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+ "smooth light blue dolphin" + ], + [ + 0.0660400390625, + 0.301025390625, + "light blue streamlined dolphin figure" + ], + [ + 0.06298828125, + 0.302490234375, + "light blue dolphin" + ], + [ + 0.005615234375, + 0.2388916015625, + "figure" + ], + [ + -0.0101318359375, + 0.205078125, + "simulation" + ], + [ + -0.0450439453125, + 0.1990966796875, + "model" + ] + ] + } + } + } +] \ No newline at end of file diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/run.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/run.log new file mode 100644 index 0000000000000000000000000000000000000000..3bf93701abe03b017e7990d6fddafb69bdce058d --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/run.log @@ -0,0 +1,3777 @@ +[2026-05-26 19:43:51,050] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,051] INFO Using MuJoCo EGL device id: 0 +[2026-05-26 19:43:51,051] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,095] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 (source=arg) +[2026-05-26 19:43:53,191] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:03,964] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,280] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,282] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,756] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,218] INFO JsonEvalRunner initialized: 116 houses, 120 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 116 houses with 2 episodes each (232 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [475, + 509, + 579, + 625, + 694, + 734, + 792, + 879, + 942, + 1058, + 1180, + 1260, + 1332, + 1399, + 1536, + 1640, + 1732, + 1781, + 1912, + 2024, + 2090, + 2200, + 2306, + 2433, + 2482, + 2597, + 2683, + 2824, + 2891, + 3007, + 3120, + 3216, + 3272, + 3331, + 3400, + 3483, + 3537, + 3610, + 3656, + 3748, + 3864, + 3956, + 4069, + 4187, + 4253, + 4293, + 4329, + 4412, + 4481, + 4502, + 4631, + 4684, + 4728, + 4811, + 4883, + 4981, + 5101, + 5180, + 5219, + 5408, + 5482, + 5568, + 5628, + 5699, + 5830, + 5905, + 5977, + 6079, + 6148, + 6227, + 6282, + 6328, + 6400, + 6514, + 6548, + 6603, + 6722, + 6792, + 6917, + 6987, + 7042, + 7101, + 7185, + 7304, + 7350, + 7420, + 7475, + 7576, + 7676, + 7777, + 7868, + 7980, + 8081, + 8141, + 8232, + 8312, + 8389, + 8460, + 8542, + 8648, + 8725, + 8833, + 8884, + 8972, + 9024, + 9092, + 9163, + 9187, + 9252, + 9320, + 9423, + 9502, + 9588, + 9651, + 9727, + 9887], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,222] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 475 (index 0/116) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place black rail with holes and arms next to smooth red apple +2026-05-26 19:48:36.636 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:37,683] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:39,127] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:39,697] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:39,901] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:39,904] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:04:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 475 episode 0 object objalinearrail_d10e54ab85304e31b12d98852fa3e165_1_0_2 completed with success=False +[05/26 20:04:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_475: 1 episodes +[05/26 20:04:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:04:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:04:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_475 +[05/26 20:04:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_475 in 2.64s (batch: 2.56s, save: 0.09s) +[05/26 20:04:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_475 +[05/26 20:04:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 475: 0/1 successful episodes +[05/26 20:04:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 509 (index 1/116) +[05/26 20:04:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:04:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place decorativebird next to light-colored paper origami crane with wings +[2026-05-26 20:05:45,515] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:12:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 509 episode 0 object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_3 completed with success=False +[05/26 20:12:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_509: 1 episodes +[05/26 20:12:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:12:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:12:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_509 +[05/26 20:12:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_509 in 2.67s (batch: 2.58s, save: 0.09s) +[05/26 20:12:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_509 +[05/26 20:12:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 509: 0/1 successful episodes +[05/26 20:12:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 579 (index 2/116) +[05/26 20:12:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 579 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:12:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 20:13:04 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +Goal: place aerosol next to blue staple gun +[2026-05-26 20:14:06,947] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:27:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 579 episode 0 object objaspraycan_b31ed30e335c435fb7b7b4a6a046721d_1_0_5 completed with success=False +[05/26 20:27:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_579: 1 episodes +[05/26 20:27:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:27:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:27:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_579 +[05/26 20:27:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_579 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 20:27:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_579 +[05/26 20:27:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 579: 0/1 successful episodes +[05/26 20:27:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 625 (index 3/116) +[05/26 20:27:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:27:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 20:28:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 20:28:15 Worker 0 WARNING object_manager.py:1238] Could not find object objafabric_311791deb3864ade81c803d19731c522_1_0_5 in scene +[05/26 20:28:15 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene +Goal: place wide rustic terracotta bowl speckled next to blue soap bottle with orange pump +[2026-05-26 20:29:12,514] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:29:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:30:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 625 episode 0 object objabowl_72f752cce53e4942be8e27429ceaf83a_1_0_8 completed with success=True +[05/26 20:30:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_625: 1 episodes +[05/26 20:30:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/26 20:31:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:31:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_625 +[05/26 20:31:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_625 in 2.17s (batch: 2.14s, save: 0.03s) +[05/26 20:31:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_625 +[05/26 20:31:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 625: 1/1 successful episodes +[05/26 20:31:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 694 (index 4/116) +[05/26 20:31:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 694 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:31:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 20:31:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_5 in scene +[05/26 20:31:27 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_5 in scene +[05/26 20:31:27 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene +Goal: place tall golden spike with base next to gray hardcover book +[2026-05-26 20:32:24,569] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:48:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 694 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6 completed with success=False +[05/26 20:48:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_694: 1 episodes +[05/26 20:48:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:48:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:48:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_694 +[05/26 20:48:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_694 in 2.67s (batch: 2.59s, save: 0.09s) +[05/26 20:48:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_694 +[05/26 20:48:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 694: 0/1 successful episodes +[05/26 20:48:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 734 (index 5/116) +[05/26 20:48:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 734 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:48:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place black cleaning squeegee next to blue porous cleaning sponge +[2026-05-26 20:49:52,775] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:10:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 734 episode 0 object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_5 completed with success=False +[05/26 21:10:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_734: 1 episodes +[05/26 21:10:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:10:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:10:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_734 +[05/26 21:10:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_734 in 2.74s (batch: 2.65s, save: 0.09s) +[05/26 21:10:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_734 +[05/26 21:10:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 734: 0/1 successful episodes +[05/26 21:10:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 792 (index 6/116) +[05/26 21:10:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:10:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 21:10:51 Worker 0 WARNING object_manager.py:1238] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_5 in scene +[05/26 21:10:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_4d12203206054668bbdb47f0cc56f133_1_0_5 in scene +[05/26 21:10:51 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodenplank_dc77fe25b17e4f89ae7b048e1a3656fe_1_0_8 in scene +Goal: place metal clamp with threaded rod and bolt next to red book +[2026-05-26 21:11:50,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:12:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 792 episode 0 object objaclamp_9772a68d88194ba9a5f73e3a317536bd_1_0_6 completed with success=False +[05/26 21:27:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_792: 1 episodes +[05/26 21:27:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:27:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_792 +[05/26 21:27:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_792 in 2.72s (batch: 2.63s, save: 0.09s) +[05/26 21:27:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_792 +[05/26 21:27:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 792: 0/1 successful episodes +[05/26 21:27:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 879 (index 7/116) +[05/26 21:27:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 879 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:27:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place flat, elongated handle with hole next to fresh spherical green lettuce +[2026-05-26 21:29:16,096] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:29:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:36:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 879 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 completed with success=False +[05/26 21:36:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_879: 1 episodes +[05/26 21:36:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:36:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:36:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_879 +[05/26 21:36:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_879 in 2.67s (batch: 2.58s, save: 0.09s) +[05/26 21:36:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_879 +[05/26 21:36:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 879: 0/1 successful episodes +[05/26 21:36:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 942 (index 8/116) +[05/26 21:36:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 942 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:36:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 21:36:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place digital watch next to black radio control transmitter +[2026-05-26 21:37:55,142] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:38:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 942 episode 0 object objawristwatch_63e67b020cd349e89c3a506a513c1108_2_0_9 completed with success=False +[05/26 21:51:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_942: 1 episodes +[05/26 21:51:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:52:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:52:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_942 +[05/26 21:52:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_942 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 21:52:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_942 +[05/26 21:52:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 942: 0/1 successful episodes +[05/26 21:52:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1058 (index 9/116) +[05/26 21:52:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1058 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:52:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place lepidopteran next to brown rectangular bread +[2026-05-26 21:53:10,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:53:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:07:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 1058 episode 0 object objamoth_c776c4a1d0a447388a8808dab3817af9_1_0_2 completed with success=False +[05/26 22:07:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1058: 1 episodes +[05/26 22:07:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:07:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:07:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1058 +[05/26 22:07:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1058 in 2.45s (batch: 2.36s, save: 0.09s) +[05/26 22:07:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1058 +[05/26 22:07:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1058: 0/1 successful episodes +[05/26 22:07:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1180 (index 10/116) +[05/26 22:07:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:07:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place dark floral mug next to transparent tall wine glass +[2026-05-26 22:09:09,142] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:09:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:19:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 1180 episode 0 object objamug_a30aab65d235438bbfc6699faaea762d_1_0_6 completed with success=False +[05/26 22:19:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1180: 1 episodes +[05/26 22:19:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:19:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:19:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1180 +[05/26 22:19:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1180 in 2.70s (batch: 2.61s, save: 0.09s) +[05/26 22:19:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1180 +[05/26 22:19:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1180: 0/1 successful episodes +[05/26 22:19:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1260 (index 11/116) +[05/26 22:19:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1260 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:19:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place loudspeaker next to teal hardcover book with colorful spine +[2026-05-26 22:20:37,640] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:21:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:31:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 1260 episode 0 object objasmartspeaker_0e9d0a055dde4d83b7fd53d8b7465916_1_0_4 completed with success=False +[05/26 22:31:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1260: 1 episodes +[05/26 22:31:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:31:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:31:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1260 +[05/26 22:31:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1260 in 2.35s (batch: 2.27s, save: 0.09s) +[05/26 22:31:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1260 +[05/26 22:31:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1260: 0/1 successful episodes +[05/26 22:31:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1332 (index 12/116) +[05/26 22:31:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1332 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:31:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 22:32:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place yellow handled polished kitchen knife next to rectangular dark non-stick frying pan +[2026-05-26 22:33:19,216] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:44:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 1332 episode 0 object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 completed with success=False +[05/26 22:44:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1332: 1 episodes +[05/26 22:44:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:44:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:44:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1332 +[05/26 22:44:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1332 in 2.49s (batch: 2.40s, save: 0.09s) +[05/26 22:44:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1332 +[05/26 22:44:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1332: 0/1 successful episodes +[05/26 22:44:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1399 (index 13/116) +[05/26 22:44:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1399 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:44:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 22:44:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +Goal: place compact holographic weapon sight next to rectangular pillow with earthy stripes +[2026-05-26 22:45:35,446] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:57:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 1399 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6 completed with success=True +[05/26 22:57:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1399: 1 episodes +[05/26 22:57:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 321 timesteps +[05/26 22:57:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:57:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1399 +[05/26 22:57:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1399 in 2.62s (batch: 2.56s, save: 0.07s) +[05/26 22:57:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1399 +[05/26 22:57:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1399: 1/1 successful episodes +[05/26 22:57:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1536 (index 14/116) +[05/26 22:57:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:57:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place gold foil chocolate bunny next to dark glossy hardcover book with gold +[2026-05-26 22:58:43,816] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:59:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:08:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 1536 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6 completed with success=False +[05/26 23:08:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1536: 1 episodes +[05/26 23:08:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:08:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:08:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1536 +[05/26 23:08:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1536 in 2.38s (batch: 2.27s, save: 0.10s) +[05/26 23:08:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1536 +[05/26 23:08:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1536: 0/1 successful episodes +[05/26 23:08:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1640 (index 15/116) +[05/26 23:08:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:08:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 23:08:48 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemold_148f80486ea04f9a873fb212e98f87ae_1_0_3 in scene +[05/26 23:08:48 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_dc44a9d16aaa4b61addce2a8480f54f6_1_0_3 in scene +Goal: place tall yellow poster with woman next to soapdispenser +[2026-05-26 23:09:50,873] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:20:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 1640 episode 0 object objaposter_f15988d0eb0a4d309738ffc5bbd3ba4d_1_0_2 completed with success=False +[05/26 23:20:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1640: 1 episodes +[05/26 23:20:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:20:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:20:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1640 +[05/26 23:20:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1640 in 2.65s (batch: 2.56s, save: 0.09s) +[05/26 23:20:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1640 +[05/26 23:20:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1640: 0/1 successful episodes +[05/26 23:20:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1732 (index 16/116) +[05/26 23:20:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1732 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:20:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place black folding knife with accent next to translucent ergonomic spray bottle +[2026-05-26 23:21:35,212] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:22:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:31:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 1732 episode 0 object objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_6 completed with success=False +[05/26 23:31:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1732: 1 episodes +[05/26 23:31:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:31:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:31:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1732 +[05/26 23:31:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1732 in 2.73s (batch: 2.65s, save: 0.09s) +[05/26 23:31:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1732 +[05/26 23:31:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1732: 0/1 successful episodes +[05/26 23:31:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1781 (index 17/116) +[05/26 23:31:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:31:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place pill bottle next to golden star badge +[2026-05-26 23:33:04,342] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:33:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:41:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1781 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_6 completed with success=False +[05/26 23:41:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1781: 1 episodes +[05/26 23:41:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:41:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:41:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1781 +[05/26 23:41:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1781 in 2.66s (batch: 2.57s, save: 0.09s) +[05/26 23:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1781 +[05/26 23:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1781: 0/1 successful episodes +[05/26 23:41:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1912 (index 18/116) +[05/26 23:41:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:41:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place red tdk vhs tape next to soap bottle +[2026-05-26 23:43:06,797] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:43:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:58:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1912 episode 0 object objavhscassette_85ea6fb195194b85816ed76bb10edfca_1_0_8 completed with success=False +[05/26 23:58:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1912: 1 episodes +[05/26 23:58:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:58:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:58:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1912 +[05/26 23:58:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1912 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 23:58:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1912 +[05/26 23:58:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1912: 0/1 successful episodes +[05/26 23:58:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2024 (index 19/116) +[05/26 23:58:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2024 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:58:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place red jewelry box with mirror next to plant life +[2026-05-27 00:03:42,917] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:12:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 2024 episode 0 object objajewelrybox_05624f21a8684474b641ab7865d5c3b0_1_0_2 completed with success=False +[05/27 00:12:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2024: 1 episodes +[05/27 00:12:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:12:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:12:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2024 +[05/27 00:12:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2024 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 00:12:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2024 +[05/27 00:12:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2024: 0/1 successful episodes +[05/27 00:12:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2090 (index 20/116) +[05/27 00:12:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2090 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:12:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 00:12:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaopticaldevice_7ed2098a406244aebfad75b9d2e6827b_1_0_7 in scene +[05/27 00:12:49 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_0edf7e6cf6327a9271981c502739c394_1_0_7 in scene +Goal: place sleek metallic juicer with three legs next to olive scalloped ceramic plate +[2026-05-27 00:13:51,126] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:14:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:24:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 2090 episode 0 object objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6 completed with success=False +[05/27 00:24:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2090: 1 episodes +[05/27 00:24:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:24:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:24:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2090 +[05/27 00:24:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2090 in 2.68s (batch: 2.58s, save: 0.10s) +[05/27 00:24:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2090 +[05/27 00:24:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2090: 0/1 successful episodes +[05/27 00:24:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2200 (index 21/116) +[05/27 00:24:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:24:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 00:24:46 Worker 0 WARNING object_manager.py:1238] Could not find object objasawhorse_b9f06d829ca7429baeba040c915d0ffb_1_0_4 in scene +Goal: place heavy-duty metal shackle next to octagonal translucent soap bottle +[2026-05-27 00:25:49,061] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:26:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:27:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 2200 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False +[05/27 00:27:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2200: 1 episodes +[05/27 00:27:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:27:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:27:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2200 +[05/27 00:27:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2200 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 00:27:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2200 +[05/27 00:27:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2200: 0/1 successful episodes +[05/27 00:27:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2306 (index 22/116) +[05/27 00:27:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:27:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 00:28:18 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_75c97069e89c4d84ab36922b77a97678_1_0_5 in scene +[05/27 00:28:18 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_48b073d405e5472d9fd7e0dbe45c973e_1_0_5 in scene +Goal: place golden caduceus with serpents and wings next to white square bowl +[2026-05-27 00:29:19,723] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:29:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:44:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 2306 episode 0 object objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_2 completed with success=False +[05/27 00:44:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2306: 1 episodes +[05/27 00:44:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:44:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:44:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2306 +[05/27 00:44:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2306 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 00:44:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2306 +[05/27 00:44:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2306: 0/1 successful episodes +[05/27 00:44:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2433 (index 23/116) +[05/27 00:44:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 00:44:49 Worker 0 WARNING object_manager.py:1238] Could not find object egg_90ac4704a427669f3e6c8af344d2d0d3_1_0_2 in scene +Goal: place blue blades next to square blue plate +[2026-05-27 00:45:53,509] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:46:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:53:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2433 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2 completed with success=False +[05/27 00:53:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2433: 1 episodes +[05/27 00:53:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:53:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:53:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2433 +[05/27 00:53:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2433 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 00:53:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2433 +[05/27 00:53:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2433: 0/1 successful episodes +[05/27 00:53:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2482 (index 24/116) +[05/27 00:53:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:53:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 00:55:56 Worker 0 WARNING object_manager.py:1238] Could not find object statue_82f73072d5461ff460bb390c3adf02fa_1_0_3 in scene +Goal: place street sign next to sleek slim dark phone with camera +[2026-05-27 00:56:59,796] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:15:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2482 episode 0 object objasign_f7f6faf55fda4fbc9d4b2558375b0378_1_0_4 completed with success=False +[05/27 01:15:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2482: 1 episodes +[05/27 01:15:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:16:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:16:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2482 +[05/27 01:16:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2482 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 01:16:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2482 +[05/27 01:16:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2482: 0/1 successful episodes +[05/27 01:16:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2597 (index 25/116) +[05/27 01:16:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2597 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:16:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place sleek ipod with screen and wheel next to colorful dodecahedron with text +[2026-05-27 01:17:07,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:24:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 2597 episode 0 object objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_3 completed with success=False +[05/27 01:24:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2597: 1 episodes +[05/27 01:24:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:24:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:24:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2597 +[05/27 01:24:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2597 in 2.67s (batch: 2.57s, save: 0.09s) +[05/27 01:24:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2597 +[05/27 01:24:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2597: 0/1 successful episodes +[05/27 01:24:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2683 (index 26/116) +[05/27 01:24:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2683 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:24:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place teal vintage handheld camera next to yellow handled polished kitchen knife +[2026-05-27 01:25:45,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:26:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:37:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2683 episode 0 object objadecorativecamera_ab399345c2cb477f85087554b280432c_1_0_2 completed with success=False +[05/27 01:38:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2683: 1 episodes +[05/27 01:38:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:38:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:38:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2683 +[05/27 01:38:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2683 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 01:38:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2683 +[05/27 01:38:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2683: 0/1 successful episodes +[05/27 01:38:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2824 (index 27/116) +[05/27 01:38:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2824 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:38:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place octagonal silver plate next to steel pot +[2026-05-27 01:40:08,935] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:40:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:49:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 2824 episode 0 object plate_c15e3f7680e3167e2f8d34f3a4bbadaf_1_0_2 completed with success=False +[05/27 01:49:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2824: 1 episodes +[05/27 01:49:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:49:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:49:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2824 +[05/27 01:49:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2824 in 2.40s (batch: 2.30s, save: 0.09s) +[05/27 01:49:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2824 +[05/27 01:49:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2824: 0/1 successful episodes +[05/27 01:49:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2891 (index 28/116) +[05/27 01:49:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2891 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:49:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object objafacemask_061da4f589f1477692d5d06b8812d518_1_0_5 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_5 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelmissile_1be9ec86a68d4657920fec178be1626c_1_0_7 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object plate_078f7b7772accf1f6c4a960a7e5bdde0_1_0_7 in scene +Goal: place black modern microphone next to ornate gray crown with lettering +[2026-05-27 01:50:25,209] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:51:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:01:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 2891 episode 0 object objamicrophone_343edd0babf743ba9fd43f99182d998d_1_0_7 completed with success=False +[05/27 02:01:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2891: 1 episodes +[05/27 02:01:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2891 +[05/27 02:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2891 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 02:01:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2891 +[05/27 02:01:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2891: 0/1 successful episodes +[05/27 02:01:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3007 (index 29/116) +[05/27 02:01:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3007 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:01:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 02:02:56 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene +[05/27 02:02:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternaldvddrive_d9b63231980e4719aca47048767062af_1_0_5 in scene +Goal: place bottleopener next to pink classical draped relief +[2026-05-27 02:04:01,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:19:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 3007 episode 0 object objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_2_0_4 completed with success=False +[05/27 02:19:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3007: 1 episodes +[05/27 02:19:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:19:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:19:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3007 +[05/27 02:19:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3007 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 02:19:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3007 +[05/27 02:19:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3007: 0/1 successful episodes +[05/27 02:19:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3120 (index 30/116) +[05/27 02:19:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3120 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:19:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place green bullet next to bronze full-figured statue +[2026-05-27 02:21:03,021] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:21:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:31:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 3120 episode 0 object objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_6 completed with success=False +[05/27 02:31:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3120: 1 episodes +[05/27 02:31:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:32:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:32:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3120 +[05/27 02:32:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3120 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 02:32:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3120 +[05/27 02:32:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3120: 0/1 successful episodes +[05/27 02:32:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3216 (index 31/116) +[05/27 02:32:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:32:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 02:32:05 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_9 in scene +Goal: place piece next to vintage radio with wooden exterior +[2026-05-27 02:33:07,451] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:33:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:44:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3216 episode 0 object objadecorativepiece_1eaddffbb80f408992ee3ade39ff9b5d_1_0_8 completed with success=False +[05/27 02:44:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3216: 1 episodes +[05/27 02:44:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:44:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:44:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3216 +[05/27 02:44:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3216 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 02:44:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3216 +[05/27 02:44:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3216: 0/1 successful episodes +[05/27 02:44:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3272 (index 32/116) +[05/27 02:44:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3272 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:44:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place green nameplate next to blue spray bottle with nozzle +[2026-05-27 02:45:59,397] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:46:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:48:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3272 episode 0 object objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_8 completed with success=False +[05/27 02:48:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3272: 1 episodes +[05/27 02:48:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:48:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:48:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3272 +[05/27 02:48:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3272 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 02:48:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3272 +[05/27 02:48:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3272: 0/1 successful episodes +[05/27 02:48:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3331 (index 33/116) +[05/27 02:48:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3331 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:48:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place round dark hanging pot with kernels next to bowl +[2026-05-27 02:49:39,423] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:50:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:12:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 3331 episode 0 object objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2 completed with success=False +[05/27 03:12:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3331: 1 episodes +[05/27 03:12:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:12:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:12:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3331 +[05/27 03:12:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3331 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 03:12:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3331 +[05/27 03:12:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3331: 0/1 successful episodes +[05/27 03:12:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3400 (index 34/116) +[05/27 03:12:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:12:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place circular stone disc with hole next to portable computer +[2026-05-27 03:13:19,261] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:25:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3400 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_7 completed with success=False +[05/27 03:25:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3400: 1 episodes +[05/27 03:25:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:25:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:25:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3400 +[05/27 03:25:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3400 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 03:25:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3400 +[05/27 03:25:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3400: 0/1 successful episodes +[05/27 03:25:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3483 (index 35/116) +[05/27 03:25:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:25:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 03:25:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene +Goal: place white playing card with black skull next to rectangular dark gray tufted pillow +[2026-05-27 03:26:33,430] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:31:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3483 episode 0 object objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_4 completed with success=True +[05/27 03:31:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3483: 1 episodes +[05/27 03:31:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 138 timesteps +[05/27 03:31:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:31:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3483 +[05/27 03:31:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3483 in 2.19s (batch: 2.14s, save: 0.05s) +[05/27 03:31:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3483 +[05/27 03:31:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3483: 1/1 successful episodes +[05/27 03:31:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3537 (index 36/116) +[05/27 03:31:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:31:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/27 03:31:37 Worker 0 WARNING object_manager.py:1238] Could not find object objawebcam_c5f7acd4d05842b0a604d37b3716be17_1_0_7 in scene +Goal: place metal clamp holding dark stone next to dark glossy hardcover book +[2026-05-27 03:32:40,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:33:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:42:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3537 episode 0 object objaclamp_989a7a2db76a4ee08d924117f258e4eb_2_0_2 completed with success=False +[05/27 03:42:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3537: 1 episodes +[05/27 03:42:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:42:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:42:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3537 +[05/27 03:42:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3537 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 03:42:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3537 +[05/27 03:42:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3537: 0/1 successful episodes +[05/27 03:42:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3610 (index 37/116) +[05/27 03:42:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:42:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place tall slender brown wooden bottle next to bronze full-figured statue +[2026-05-27 03:43:37,445] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:44:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:55:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3610 episode 0 object objadecorativebottle_7c356add4b0545759c69e94f6da537b7_1_0_2 completed with success=False +[05/27 03:55:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place small gray bird with orange beak next to medium smooth red apple +[2026-05-27 03:56:19,034] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:56:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:08:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3610 episode 1 object objadecorativebird_7914020e993b48ea8385579ee35b111c_1_0_2 completed with success=False +[05/27 04:08:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3610: 2 episodes +[05/27 04:08:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:08:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:08:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:08:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:08:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3610 +[05/27 04:08:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3610 in 5.04s (batch: 4.86s, save: 0.18s) +[05/27 04:08:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3610 +[05/27 04:08:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3610: 0/2 successful episodes +[05/27 04:08:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3656 (index 38/116) +[05/27 04:08:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:08:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place glossy red tomato with stem next to gold vase +[2026-05-27 04:09:20,963] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:09:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:24:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3656 episode 0 object objatomato_01e9b3bcc92545f1a2fd713c11cbc4c9_1_0_2 completed with success=False +[05/27 04:24:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3656: 1 episodes +[05/27 04:24:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:24:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:24:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3656 +[05/27 04:24:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3656 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 04:24:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3656 +[05/27 04:24:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3656: 0/1 successful episodes +[05/27 04:24:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3748 (index 39/116) +[05/27 04:24:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:24:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place rectangular metallic effects pedal next to slideprojector +[2026-05-27 04:25:23,720] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:26:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:38:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3748 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_2_0_3 completed with success=False +[05/27 04:38:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3748: 1 episodes +[05/27 04:38:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:38:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:38:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3748 +[05/27 04:38:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3748 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 04:38:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3748 +[05/27 04:38:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3748: 0/1 successful episodes +[05/27 04:38:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3864 (index 40/116) +[05/27 04:38:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3864 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:38:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place orange cylindrical medicine bottle with label next to soap bottle +[2026-05-27 04:39:24,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:39:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:52:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3864 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2 completed with success=False +[05/27 04:52:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3864: 1 episodes +[05/27 04:52:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:52:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:52:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3864 +[05/27 04:52:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3864 in 2.48s (batch: 2.38s, save: 0.10s) +[05/27 04:52:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3864 +[05/27 04:52:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3864: 0/1 successful episodes +[05/27 04:52:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3956 (index 41/116) +[05/27 04:52:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:52:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place blue bifold wallet with brown interior next to blue vase +[2026-05-27 04:53:23,205] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:53:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:59:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3956 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=True +[05/27 04:59:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3956: 1 episodes +[05/27 04:59:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 330 timesteps +[05/27 04:59:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:59:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3956 +[05/27 04:59:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3956 in 2.66s (batch: 2.59s, save: 0.07s) +[05/27 04:59:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3956 +[05/27 04:59:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3956: 1/1 successful episodes +[05/27 04:59:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4069 (index 42/116) +[05/27 04:59:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:59:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_a1e5e7e9a0fd5721b75dc053d43ae3cd_1_0_2 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelrydisplay_cb763a3de6e64365955841346d95891c_1_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_3_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object candle_09223ab74c3b4b8525bb3f1f1bd405c2_2_0_5 in scene +Goal: place brown dried fish with rough texture next to bulbous shiny gold vase +[2026-05-27 05:01:04,509] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:18:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4069 episode 0 object objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2 completed with success=False +[05/27 05:18:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4069: 1 episodes +[05/27 05:18:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:18:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:18:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4069 +[05/27 05:18:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4069 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 05:18:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4069 +[05/27 05:18:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4069: 0/1 successful episodes +[05/27 05:18:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4187 (index 43/116) +[05/27 05:18:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4187 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 05:18:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place black pan next to transparent soap bottle +[2026-05-27 05:19:45,093] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:20:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:36:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4187 episode 0 object cookingpan_2042502e26c8e4aa7f1acb4af74ccc69_1_0_2 completed with success=False +[05/27 05:36:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4187: 1 episodes +[05/27 05:36:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:36:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:36:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4187 +[05/27 05:36:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4187 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 05:36:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4187 +[05/27 05:36:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4187: 0/1 successful episodes +[05/27 05:36:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4253 (index 44/116) +[05/27 05:36:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4253 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 05:36:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 05:36:38 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_0ad165ecf7264702b7b805b1d0c3967e_1_0_5 in scene +[05/27 05:36:38 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_5 in scene +Goal: place purple striped paper roll next to red glove +[2026-05-27 05:37:41,277] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:38:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:51:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4253 episode 0 object objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_9 completed with success=False +[05/27 05:51:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4253: 1 episodes +[05/27 05:51:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:51:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:51:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4253 +[05/27 05:51:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4253 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 05:51:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4253 +[05/27 05:51:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4253: 0/1 successful episodes +[05/27 05:51:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4293 (index 45/116) +[05/27 05:51:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4293 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 05:51:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place black electronic keypad with green display next to yellow glass cutter tool +[2026-05-27 05:52:59,229] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:53:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:02:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4293 episode 0 object objakeypad_b90b37839bb949bba7c5a6ff2f49d1c8_1_0_6 completed with success=False +[05/27 06:02:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4293: 1 episodes +[05/27 06:02:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:02:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:02:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4293 +[05/27 06:02:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4293 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 06:02:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4293 +[05/27 06:02:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4293: 0/1 successful episodes +[05/27 06:02:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4329 (index 46/116) +[05/27 06:02:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 06:02:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 06:02:30 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place mechanical gauntlet next to blue glossy ceramic vase +[2026-05-27 06:03:34,075] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:21:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4329 episode 0 object objamechanicalgauntlet_46092034259442ec91346f202fb2393e_2_0_8 completed with success=False +[05/27 06:22:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4329: 1 episodes +[05/27 06:22:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:22:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:22:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4329 +[05/27 06:22:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4329 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 06:22:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4329 +[05/27 06:22:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4329: 0/1 successful episodes +[05/27 06:22:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4412 (index 47/116) +[05/27 06:22:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4412 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 06:22:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 06:22:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene +Goal: place glossy green beetle figurine next to metallic blue laptop +[2026-05-27 06:23:15,065] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:35:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4412 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_9 completed with success=False +[05/27 06:35:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4412: 1 episodes +[05/27 06:35:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:35:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:35:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4412 +[05/27 06:35:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4412 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 06:35:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4412 +[05/27 06:35:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4412: 0/1 successful episodes +[05/27 06:35:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4481 (index 48/116) +[05/27 06:35:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 06:35:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place white marble wedge with markings next to mosaicfragment +[2026-05-27 06:36:26,281] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:36:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:48:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4481 episode 0 object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 completed with success=False +[05/27 06:48:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place purple snowman card next to blue metallic toaster with buttons +[2026-05-27 06:49:59,002] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:50:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:02:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4481 episode 1 object objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_6 completed with success=False +[05/27 07:02:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4481: 2 episodes +[05/27 07:02:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:02:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:02:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:02:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:02:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4481 +[05/27 07:02:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4481 in 5.09s (batch: 4.91s, save: 0.18s) +[05/27 07:02:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4481 +[05/27 07:02:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4481: 0/2 successful episodes +[05/27 07:02:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4502 (index 49/116) +[05/27 07:02:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:02:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 07:02:16 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[05/27 07:02:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +[05/27 07:02:16 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_6 in scene +Goal: place blue milk carton with branding next to narwhal skull +[2026-05-27 07:03:20,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:15:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4502 episode 0 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_7 completed with success=False +[05/27 07:15:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4502: 1 episodes +[05/27 07:15:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:15:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:15:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4502 +[05/27 07:15:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4502 in 3.06s (batch: 2.97s, save: 0.09s) +[05/27 07:15:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4502 +[05/27 07:15:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4502: 0/1 successful episodes +[05/27 07:15:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4631 (index 50/116) +[05/27 07:15:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:15:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place dark gray keypad with numbers next to traditional wooden rubber stamp with metal +[2026-05-27 07:16:26,315] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:30:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 4631 episode 0 object objakeypad_5ec36e995dd94222a1fd26b112b65cd2_2_0_6 completed with success=False +[05/27 07:30:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4631: 1 episodes +[05/27 07:30:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:30:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:30:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4631 +[05/27 07:30:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4631 in 2.71s (batch: 2.63s, save: 0.09s) +[05/27 07:30:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4631 +[05/27 07:30:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4631: 0/1 successful episodes +[05/27 07:30:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4684 (index 51/116) +[05/27 07:30:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4684 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:30:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place wooden house keyholder next to realistic pink gradient starfish model +[2026-05-27 07:31:25,301] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:32:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:48:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4684 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_3 completed with success=True +[05/27 07:48:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4684: 1 episodes +[05/27 07:48:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 432 timesteps +[05/27 07:48:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:48:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4684 +[05/27 07:48:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4684 in 2.35s (batch: 2.27s, save: 0.09s) +[05/27 07:48:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4684 +[05/27 07:48:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4684: 1/1 successful episodes +[05/27 07:48:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4728 (index 52/116) +[05/27 07:48:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:48:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 07:49:06 Worker 0 WARNING object_manager.py:1238] Could not find object objamultitool_8e4f71b51ecc41488c0bd05491217797_1_0_2 in scene +[05/27 07:49:06 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[05/27 07:49:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place smoothing iron next to handheld white and orange tape dispenser +[2026-05-27 07:50:09,354] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:50:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:09:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4728 episode 0 object objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2 completed with success=False +[05/27 08:09:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4728: 1 episodes +[05/27 08:09:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:09:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:09:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4728 +[05/27 08:09:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4728 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 08:09:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4728 +[05/27 08:09:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4728: 0/1 successful episodes +[05/27 08:09:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4811 (index 53/116) +[05/27 08:09:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4811 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:09:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place realistic yellow striped wasp next to rustic carved wooden block +[2026-05-27 08:11:05,062] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:11:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4811 episode 0 object objainsect_2a266405e9044b5495cf55b7298c757b_1_0_6 completed with success=False +[05/27 08:21:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4811: 1 episodes +[05/27 08:21:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:21:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:21:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4811 +[05/27 08:21:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4811 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 08:21:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4811 +[05/27 08:21:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4811: 0/1 successful episodes +[05/27 08:21:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4883 (index 54/116) +[05/27 08:21:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4883 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:21:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place blue bifold wallet with brown interior next to glossy black dog statue sitting +[2026-05-27 08:22:55,678] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:23:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:30:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4883 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False +[05/27 08:31:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4883: 1 episodes +[05/27 08:31:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:31:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:31:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4883 +[05/27 08:31:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4883 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 08:31:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4883 +[05/27 08:31:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4883: 0/1 successful episodes +[05/27 08:31:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4981 (index 55/116) +[05/27 08:31:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:31:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place device next to cream horseshoe neck pillow +[2026-05-27 08:32:10,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:37:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4981 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_2 completed with success=False +[05/27 08:37:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4981: 1 episodes +[05/27 08:37:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:37:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:37:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4981 +[05/27 08:37:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4981 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 08:37:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4981 +[05/27 08:37:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4981: 0/1 successful episodes +[05/27 08:37:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5101 (index 56/116) +[05/27 08:37:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:37:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place electricaltransformer next to smooth white ceramic serving bowl +[2026-05-27 08:38:47,209] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:39:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:44:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5101 episode 0 object objaelectricaltransformer_6f46f585edac4aeca9634f6ec1f6ead0_2_0_7 completed with success=False +[05/27 08:44:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5101: 1 episodes +[05/27 08:44:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:44:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:44:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5101 +[05/27 08:44:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5101 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 08:44:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5101 +[05/27 08:44:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5101: 0/1 successful episodes +[05/27 08:44:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5180 (index 57/116) +[05/27 08:44:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:44:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodlog_46bf60dedb084261b4ac8021a6d49f7d_1_0_2 in scene +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativespike_e18633481a8b45608e19accc3c0e58a3_1_0_2 in scene +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecoil_ca64528b5f7b4a8092a2583ad8c7d929_1_0_5 in scene +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_5 in scene +Goal: place rusty ring next to golden mace with black handle +[2026-05-27 08:45:34,666] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:57:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5180 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_3 completed with success=False +[05/27 08:57:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5180: 1 episodes +[05/27 08:57:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:57:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:57:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5180 +[05/27 08:57:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5180 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 08:57:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5180 +[05/27 08:57:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5180: 0/1 successful episodes +[05/27 08:57:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5219 (index 58/116) +[05/27 08:57:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:57:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 08:57:21 Worker 0 WARNING object_manager.py:1238] Could not find object objainsect_016576dd30c1464f9115584748950ed2_1_0_2 in scene +[05/27 08:57:21 Worker 0 WARNING object_manager.py:1238] Could not find object apple_1d4990dc37d751a859248eaa9d6ecea0_1_0_2 in scene +Goal: place mint pawn next to modern silver toaster with blue accents +[2026-05-27 08:58:23,708] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:59:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:11:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5219 episode 0 object objachesspiece_4a7ca69cec1d45648576c4dd262009d6_1_0_2 completed with success=False +[05/27 09:11:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5219: 1 episodes +[05/27 09:11:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:11:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:11:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5219 +[05/27 09:11:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5219 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 09:11:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5219 +[05/27 09:11:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5219: 0/1 successful episodes +[05/27 09:11:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5408 (index 59/116) +[05/27 09:11:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:11:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 09:11:44 Worker 0 WARNING object_manager.py:1238] Could not find object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_6 in scene +[05/27 09:11:44 Worker 0 WARNING object_manager.py:1238] Could not find object objanameplate_bc384e6f26f84b04997161e3acde4bc3_1_0_6 in scene +Goal: place decorative sign next to smooth green apple +[2026-05-27 09:12:47,195] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:13:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:22:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5408 episode 0 object objadecorativesign_718ce2f835cc4281a0b8102773c7b290_1_0_6 completed with success=False +[05/27 09:22:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5408: 1 episodes +[05/27 09:22:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:22:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:22:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5408 +[05/27 09:22:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5408 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:22:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5408 +[05/27 09:22:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5408: 0/1 successful episodes +[05/27 09:22:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5482 (index 60/116) +[05/27 09:22:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:22:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place compact black rail mount with slots next to bread +[2026-05-27 09:24:16,803] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:24:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:33:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 5482 episode 0 object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_6 completed with success=False +[05/27 09:33:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5482: 1 episodes +[05/27 09:33:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:33:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:33:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5482 +[05/27 09:33:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5482 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 09:33:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5482 +[05/27 09:33:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5482: 0/1 successful episodes +[05/27 09:33:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5568 (index 61/116) +[05/27 09:33:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5568 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:33:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 09:34:35 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_3 in scene +Goal: place glossy green beetle figurine next to red rosebud turquoise stem +[2026-05-27 09:35:38,708] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:36:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:47:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5568 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_6 completed with success=False +[05/27 09:47:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5568: 1 episodes +[05/27 09:47:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:47:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:47:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5568 +[05/27 09:47:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5568 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:47:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5568 +[05/27 09:47:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5568: 0/1 successful episodes +[05/27 09:47:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5628 (index 62/116) +[05/27 09:47:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5628 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:47:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 09:48:13 Worker 0 WARNING object_manager.py:1238] Could not find object objastoneslab_79f7029be34f4ac9a418454d7967a859_1_0_2 in scene +Goal: place muffler next to beige weathered animal jawbone +[2026-05-27 09:49:17,077] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:58:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5628 episode 0 object objashockabsorber_09418c0e952b4ccebedd650ef0acad24_1_0_7 completed with success=False +[05/27 09:58:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5628: 1 episodes +[05/27 09:58:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:58:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:58:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5628 +[05/27 09:58:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5628 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 09:58:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5628 +[05/27 09:58:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5628: 0/1 successful episodes +[05/27 09:58:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5699 (index 63/116) +[05/27 09:58:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5699 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:58:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place curved pink petal next to sprayer +[2026-05-27 09:59:56,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:00:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:16:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 5699 episode 0 object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_2 completed with success=False +[05/27 10:16:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5699: 1 episodes +[05/27 10:16:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:16:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:16:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5699 +[05/27 10:16:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5699 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 10:16:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5699 +[05/27 10:16:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5699: 0/1 successful episodes +[05/27 10:16:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5830 (index 64/116) +[05/27 10:16:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5830 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:16:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place red cylindrical roller next to small gold dog statue +[2026-05-27 10:17:45,779] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:28:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5830 episode 0 object objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6 completed with success=False +[05/27 10:28:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5830: 1 episodes +[05/27 10:28:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:28:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:28:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5830 +[05/27 10:28:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5830 in 2.71s (batch: 2.62s, save: 0.10s) +[05/27 10:28:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5830 +[05/27 10:28:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5830: 0/1 successful episodes +[05/27 10:28:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5905 (index 65/116) +[05/27 10:28:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5905 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:28:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 10:29:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene +Goal: place glossy dark chocolate cube with pink next to container +[2026-05-27 10:30:10,668] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:30:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:41:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5905 episode 0 object objachocolate_9d8bc6de6791425aac600b838103f5ce_1_0_6 completed with success=False +[05/27 10:41:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5905: 1 episodes +[05/27 10:41:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:41:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:41:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5905 +[05/27 10:41:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5905 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 10:41:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5905 +[05/27 10:41:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5905: 0/1 successful episodes +[05/27 10:41:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5977 (index 66/116) +[05/27 10:41:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5977 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:41:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place dispenser next to red potato +[2026-05-27 10:42:50,388] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:43:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:52:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5977 episode 0 object soapdispenser_e2340594c344cded466620d23f003e8a_1_0_6 completed with success=False +[05/27 10:53:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5977: 1 episodes +[05/27 10:53:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:53:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:53:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5977 +[05/27 10:53:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5977 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 10:53:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5977 +[05/27 10:53:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5977: 0/1 successful episodes +[05/27 10:53:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6079 (index 67/116) +[05/27 10:53:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:53:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 10:53:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebook_a546d2dbdad04856b0649fdb4c8fb672_1_0_4 in scene +[05/27 10:53:15 Worker 0 WARNING object_manager.py:1238] Could not find object plate_5eb7564ba51c03b33a20e901d23c4f3b_2_0_4 in scene +[05/27 10:53:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +Goal: place purple rectangular packet with cupcake next to dark red hardcover journal with pages +[2026-05-27 10:54:18,219] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:54:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:59:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 6079 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False +[05/27 10:59:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6079: 1 episodes +[05/27 10:59:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:59:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:59:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6079 +[05/27 10:59:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6079 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 10:59:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6079 +[05/27 10:59:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6079: 0/1 successful episodes +[05/27 10:59:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6148 (index 68/116) +[05/27 10:59:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:59:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place shallow wide terracotta bowl next to gray polished human hand statue +[2026-05-27 11:00:33,237] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:01:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:06:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6148 episode 0 object bowl_4d97da0c296398947839b0e020453a0f_1_0_2 completed with success=False +[05/27 11:06:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6148: 1 episodes +[05/27 11:06:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:06:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:06:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6148 +[05/27 11:06:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6148 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 11:06:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6148 +[05/27 11:06:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6148: 0/1 successful episodes +[05/27 11:06:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6227 (index 69/116) +[05/27 11:06:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6227 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:06:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/27 11:07:13 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_7 in scene +Goal: place french bulldog sculpture next to irregular yellow porous sponge object +[2026-05-27 11:08:17,201] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:09:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 6227 episode 0 object objasculpture_0aada10d6d7e46dca7cb54a8590b2a41_1_0_7 completed with success=True +[05/27 11:09:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6227: 1 episodes +[05/27 11:09:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/27 11:09:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:09:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6227 +[05/27 11:09:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6227 in 2.19s (batch: 2.17s, save: 0.03s) +[05/27 11:09:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6227 +[05/27 11:09:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6227: 1/1 successful episodes +[05/27 11:09:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6282 (index 70/116) +[05/27 11:09:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6282 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:09:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place rustic ceramic bowl with patterns next to gold pump bottle +[2026-05-27 11:11:07,675] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:11:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:27:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 6282 episode 0 object objaceramicbowl_66b7280abfa84ed3b5f1ae4d51dfd946_1_0_2 completed with success=False +[05/27 11:27:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6282: 1 episodes +[05/27 11:27:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:27:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:27:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6282 +[05/27 11:27:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6282 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 11:27:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6282 +[05/27 11:27:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6282: 0/1 successful episodes +[05/27 11:27:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6328 (index 71/116) +[05/27 11:27:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6328 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:27:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place gray stake with red spherical top next to decorative star +[2026-05-27 11:28:54,887] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:46:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 6328 episode 0 object objagardenstake_6c526bcea303477ba2cedb27c6c8af53_1_0_6 completed with success=False +[05/27 11:46:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6328: 1 episodes +[05/27 11:46:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:46:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:46:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6328 +[05/27 11:46:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6328 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 11:46:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6328 +[05/27 11:46:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6328: 0/1 successful episodes +[05/27 11:46:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6400 (index 72/116) +[05/27 11:46:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:46:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place green packet next to small green packet +[2026-05-27 11:47:26,352] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:01:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6400 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_6 completed with success=False +[05/27 12:01:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6400: 1 episodes +[05/27 12:01:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6400 +[05/27 12:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6400 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 12:01:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6400 +[05/27 12:01:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6400: 0/1 successful episodes +[05/27 12:01:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6514 (index 73/116) +[05/27 12:01:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 12:01:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place purple spray bottle with white nozzle next to paint can +[2026-05-27 12:03:11,668] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:10:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6514 episode 0 object atomizer_973bce9435d852757b03afc168e4c1df_1_0_6 completed with success=False +[05/27 12:10:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6514: 1 episodes +[05/27 12:10:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:10:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:10:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6514 +[05/27 12:10:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6514 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 12:10:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6514 +[05/27 12:10:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6514: 0/1 successful episodes +[05/27 12:10:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6548 (index 74/116) +[05/27 12:10:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6548 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 12:10:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 12:11:15 Worker 0 WARNING object_manager.py:1238] Could not find object objarodent_a7ca84f5b2224c9087aac4b4fb88ae3e_1_0_3 in scene +[05/27 12:11:15 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_2_0_3 in scene +Goal: place soup can next to irishpotato +[2026-05-27 12:12:18,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:12:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:27:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 6548 episode 0 object objasoupcan_7f207bacacd04ac88c54babf487ae570_1_0_2 completed with success=False +[05/27 12:27:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 12:27:52 Worker 0 WARNING object_manager.py:1238] Could not find object objarodent_a7ca84f5b2224c9087aac4b4fb88ae3e_1_0_3 in scene +[05/27 12:27:52 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_2_0_3 in scene +Goal: place blue handheld ergonomic 3d scanner next to crockery +[2026-05-27 12:28:55,225] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:29:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:44:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 6548 episode 1 object obja3dscanner_35ce1f77245c4aeb903f6ec11634e83b_1_0_4 completed with success=False +[05/27 12:44:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6548: 2 episodes +[05/27 12:44:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:44:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:44:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:44:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:44:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6548 +[05/27 12:44:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6548 in 4.76s (batch: 4.59s, save: 0.17s) +[05/27 12:44:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6548 +[05/27 12:44:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6548: 0/2 successful episodes +[05/27 12:44:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6603 (index 75/116) +[05/27 12:44:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6603 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 12:44:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_7 in scene +Goal: place chain next to brown chihuahua +[2026-05-27 12:46:05,279] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:47:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:01:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 6603 episode 0 object objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_9 completed with success=False +[05/27 13:01:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6603: 1 episodes +[05/27 13:01:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:01:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:01:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6603 +[05/27 13:01:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6603 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 13:01:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6603 +[05/27 13:01:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6603: 0/1 successful episodes +[05/27 13:01:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6722 (index 76/116) +[05/27 13:01:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6722 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:01:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place yellow handheld gps with blue screen next to white spine book +[2026-05-27 13:02:48,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:03:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:16:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6722 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_2 completed with success=False +[05/27 13:16:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6722: 1 episodes +[05/27 13:16:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:16:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:16:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6722 +[05/27 13:16:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6722 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 13:16:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6722 +[05/27 13:16:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6722: 0/1 successful episodes +[05/27 13:16:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6792 (index 77/116) +[05/27 13:16:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:16:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 13:17:08 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/27 13:17:08 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place hand drill next to blocky pixelated hammer +[2026-05-27 13:18:11,391] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:34:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6792 episode 0 object objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_7 completed with success=False +[05/27 13:34:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6792: 1 episodes +[05/27 13:34:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:34:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:34:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6792 +[05/27 13:34:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6792 in 2.63s (batch: 2.54s, save: 0.09s) +[05/27 13:34:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6792 +[05/27 13:34:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6792: 0/1 successful episodes +[05/27 13:34:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6917 (index 78/116) +[05/27 13:34:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6917 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:34:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place dark vintage iron nutcracker next to decorative plate +[2026-05-27 13:36:25,338] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:54:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 6917 episode 0 object objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_2 completed with success=False +[05/27 13:54:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6917: 1 episodes +[05/27 13:54:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:54:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:54:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6917 +[05/27 13:54:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6917 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 13:54:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6917 +[05/27 13:54:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6917: 0/1 successful episodes +[05/27 13:54:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6987 (index 79/116) +[05/27 13:54:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6987 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:54:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place toy box next to detailed visible desert camouflage tank +[2026-05-27 13:56:09,435] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:56:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:09:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 6987 episode 0 object objatoystoragebox_b47be2bc67884e0397463a236e689b92_1_0_6 completed with success=False +[05/27 14:09:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6987: 1 episodes +[05/27 14:09:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:09:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:09:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6987 +[05/27 14:09:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6987 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 14:09:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6987 +[05/27 14:09:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6987: 0/1 successful episodes +[05/27 14:09:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7042 (index 80/116) +[05/27 14:09:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7042 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:09:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place white ergonomic handheld device with display next to wooden house with hooks +[2026-05-27 14:10:57,808] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:11:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:18:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 7042 episode 0 object objahandhelddevice_a25db99294664f0ea8f871f67bd77077_1_0_7 completed with success=False +[05/27 14:18:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7042: 1 episodes +[05/27 14:18:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:18:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:18:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7042 +[05/27 14:18:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7042 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 14:18:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7042 +[05/27 14:18:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7042: 0/1 successful episodes +[05/27 14:18:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7101 (index 81/116) +[05/27 14:18:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:18:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 14:19:11 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeartpiece_d50ff27e57074d4ab85909a9f66a5e34_1_0_2 in scene +[05/27 14:19:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaathleticshoe_d9a3419498434fcdb94cfc9a907fe1cd_1_0_5 in scene +[05/27 14:19:11 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place white scepter next to red bomb with timer and wires +[2026-05-27 14:20:14,237] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:20:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:33:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7101 episode 0 object objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_4 completed with success=False +[05/27 14:33:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7101: 1 episodes +[05/27 14:33:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:33:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:33:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7101 +[05/27 14:33:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7101 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 14:33:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7101 +[05/27 14:33:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7101: 0/1 successful episodes +[05/27 14:33:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7185 (index 82/116) +[05/27 14:33:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:33:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place beige vintage calculator with antenna next to gray laptop +[2026-05-27 14:34:40,701] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:48:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 7185 episode 0 object objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6 completed with success=False +[05/27 14:48:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7185: 1 episodes +[05/27 14:48:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:48:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:48:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7185 +[05/27 14:48:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7185 in 2.47s (batch: 2.37s, save: 0.09s) +[05/27 14:48:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7185 +[05/27 14:48:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7185: 0/1 successful episodes +[05/27 14:48:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7304 (index 83/116) +[05/27 14:48:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7304 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:48:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 14:48:55 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_7 in scene +[05/27 14:48:55 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_094a39bf1aa24447ba0120adfd2d2073_1_0_7 in scene +Goal: place smoke grenade next to red tomato +[2026-05-27 14:49:57,350] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:50:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:03:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 7304 episode 0 object objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_8 completed with success=False +[05/27 15:03:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7304: 1 episodes +[05/27 15:03:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:03:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:03:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7304 +[05/27 15:03:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7304 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 15:03:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7304 +[05/27 15:03:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7304: 0/1 successful episodes +[05/27 15:03:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7350 (index 84/116) +[05/27 15:03:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:03:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place glossy orange bell pepper with stem next to irish potato +[2026-05-27 15:04:54,970] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:05:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:11:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 7350 episode 0 object objabellpepper_aef570243a09466e818dd97d27cbd9dc_1_0_2 completed with success=False +[05/27 15:11:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7350: 1 episodes +[05/27 15:11:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:11:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:11:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7350 +[05/27 15:11:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7350 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 15:11:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7350 +[05/27 15:11:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7350: 0/1 successful episodes +[05/27 15:11:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7420 (index 85/116) +[05/27 15:11:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:11:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place instrumentality next to white embossed wedding card +[2026-05-27 15:12:40,526] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 7420 episode 0 object objapackage_aa9326180c1d48bebc96097c82ae4d6c_1_0_2 completed with success=False +[05/27 15:28:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7420: 1 episodes +[05/27 15:28:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:28:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:28:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7420 +[05/27 15:28:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7420 in 2.77s (batch: 2.67s, save: 0.09s) +[05/27 15:28:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7420 +[05/27 15:28:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7420: 0/1 successful episodes +[05/27 15:28:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7475 (index 86/116) +[05/27 15:28:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:28:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place wooden brush next to plump raw yellow chicken +[2026-05-27 15:30:03,757] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:37:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 7475 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_3 completed with success=False +[05/27 15:37:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7475: 1 episodes +[05/27 15:37:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:37:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:37:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7475 +[05/27 15:37:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7475 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 15:37:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7475 +[05/27 15:37:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7475: 0/1 successful episodes +[05/27 15:37:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7576 (index 87/116) +[05/27 15:37:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:37:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 15:37:42 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelship_6e8cfcffcb3944c2b2b88f8548489993_1_0_6 in scene +[05/27 15:37:42 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_23e99c616e7c0667edeeacb9669a5e0b_1_0_6 in scene +Goal: place decorative brown helmet with straps next to vintage wooden telephone +[2026-05-27 15:38:46,345] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:39:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:49:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 7576 episode 0 object objadecorativehelmet_9391d72042e541cf84721bfc158fb229_1_0_7 completed with success=False +[05/27 15:49:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7576: 1 episodes +[05/27 15:49:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:49:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:49:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7576 +[05/27 15:49:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7576 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 15:49:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7576 +[05/27 15:49:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7576: 0/1 successful episodes +[05/27 15:49:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7676 (index 88/116) +[05/27 15:49:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:49:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place black handled curved sickle next to yellow and orange fish submarine +[2026-05-27 15:50:45,410] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:51:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:58:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 7676 episode 0 object objasickle_0c3d6826668b4c7ea9477484d4ebeed4_1_0_2 completed with success=False +[05/27 15:58:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7676: 1 episodes +[05/27 15:58:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:58:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:58:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7676 +[05/27 15:58:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7676 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 15:58:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7676 +[05/27 15:58:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7676: 0/1 successful episodes +[05/27 15:58:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7777 (index 89/116) +[05/27 15:58:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7777 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:58:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place taper next to lighthouse with striped tower +[2026-05-27 15:59:28,164] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:09:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 7777 episode 0 object objacandle_42ad9182fa98425c99bfd06e1aa33e18_1_0_5 completed with success=False +[05/27 16:10:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7777: 1 episodes +[05/27 16:10:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:10:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:10:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7777 +[05/27 16:10:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7777 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 16:10:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7777 +[05/27 16:10:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7777: 0/1 successful episodes +[05/27 16:10:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7868 (index 90/116) +[05/27 16:10:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7868 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:10:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place gold ornament next to soft white pillow with quilting +[2026-05-27 16:11:25,271] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:11:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:20:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 7868 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_7 completed with success=False +[05/27 16:20:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7868: 1 episodes +[05/27 16:20:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:20:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:20:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7868 +[05/27 16:20:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7868 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 16:20:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7868 +[05/27 16:20:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7868: 0/1 successful episodes +[05/27 16:20:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7980 (index 91/116) +[05/27 16:20:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:20:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place silver sturdy metal hinge next to smooth yellow apple with stem +[2026-05-27 16:21:35,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:22:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:28:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 7980 episode 0 object objahinge_f2cfb95a05874d8eabb78f90efed2983_1_0_2 completed with success=False +[05/27 16:28:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7980: 1 episodes +[05/27 16:28:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:28:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:28:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7980 +[05/27 16:28:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7980 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 16:28:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7980 +[05/27 16:28:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7980: 0/1 successful episodes +[05/27 16:28:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8081 (index 92/116) +[05/27 16:28:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8081 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:28:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 16:28:55 Worker 0 WARNING object_manager.py:1238] Could not find object objachisel_47f47ebbca6b4b92ab51302a4bde91fd_1_0_4 in scene +Goal: place white shell with blue accents next to bulbous shiny gold vase +[2026-05-27 16:29:59,459] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:30:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:44:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 8081 episode 0 object objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_4 completed with success=False +[05/27 16:44:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8081: 1 episodes +[05/27 16:44:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:44:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:44:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8081 +[05/27 16:44:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8081 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 16:44:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8081 +[05/27 16:44:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8081: 0/1 successful episodes +[05/27 16:44:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8141 (index 93/116) +[05/27 16:44:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8141 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:44:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place vessel next to smooth elongated tan loaf +[2026-05-27 16:46:16,250] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:47:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:01:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8141 episode 0 object objaflask_a9cedb7fc2d74f95ae7bc2b72960d3c6_1_0_8 completed with success=False +[05/27 17:01:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8141: 1 episodes +[05/27 17:01:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:01:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:01:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8141 +[05/27 17:01:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8141 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 17:01:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8141 +[05/27 17:01:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8141: 0/1 successful episodes +[05/27 17:01:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8232 (index 94/116) +[05/27 17:01:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8232 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:01:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_98f45c9d6b3949fe9bf712b2773fc92e_1_0_5 in scene +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicagrenade_7edd60c4948642b290d863898cacd3dd_1_0_6 in scene +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object cup_a4bc4557e863c56d9b0accc2703dbbe4_1_0_6 in scene +Goal: place brown bird next to bulbous shiny gold metallic vase +[2026-05-27 17:02:36,633] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:04:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 8232 episode 0 object objadecorativebird_b4371275a3d8455d861926a06e68f63b_1_0_7 completed with success=True +[05/27 17:04:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8232: 1 episodes +[05/27 17:04:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 178 timesteps +[05/27 17:04:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:04:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8232 +[05/27 17:04:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8232 in 2.52s (batch: 2.46s, save: 0.06s) +[05/27 17:04:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8232 +[05/27 17:04:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8232: 1/1 successful episodes +[05/27 17:04:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8312 (index 95/116) +[05/27 17:04:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8312 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:04:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 17:04:58 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelblimp_38ffa448ceff406d987f4b71acab5fb2_2_0_2 in scene +[05/27 17:04:58 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b7993147fccc9ed6100d789b3917e22e_1_0_2 in scene +Goal: place black rubber mallet with wooden handle next to white 2% milk carton with branding +[2026-05-27 17:06:02,800] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:06:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:23:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 8312 episode 0 object objarubbermallet_57fc7be2efcd4284a9514f05dbb51942_2_0_4 completed with success=False +[05/27 17:23:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8312: 1 episodes +[05/27 17:23:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:23:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:23:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8312 +[05/27 17:23:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8312 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 17:23:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8312 +[05/27 17:23:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8312: 0/1 successful episodes +[05/27 17:23:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8389 (index 96/116) +[05/27 17:23:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8389 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:23:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place binoculars next to open shark jaws +[2026-05-27 17:24:40,703] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:25:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:38:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 8389 episode 0 object objanightvisiongoggles_eae7cbfcd0ec4060bde31338845ea44c_1_0_6 completed with success=False +[05/27 17:38:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8389: 1 episodes +[05/27 17:38:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:38:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:38:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8389 +[05/27 17:38:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8389 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 17:38:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8389 +[05/27 17:38:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8389: 0/1 successful episodes +[05/27 17:38:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8460 (index 97/116) +[05/27 17:38:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8460 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:38:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place glossy square dark chocolate next to red tomato +[2026-05-27 17:39:52,712] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:48:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 8460 episode 0 object objachocolatebar_38a2c03610004351acc0cce85ba022e2_3_0_6 completed with success=False +[05/27 17:48:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8460: 1 episodes +[05/27 17:48:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:48:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:48:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8460 +[05/27 17:48:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8460 in 2.53s (batch: 2.43s, save: 0.09s) +[05/27 17:48:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8460 +[05/27 17:48:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8460: 0/1 successful episodes +[05/27 17:48:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8542 (index 98/116) +[05/27 17:48:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8542 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:48:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place yellow striped bee next to fresh medium green romaine lettuce +[2026-05-27 17:49:56,609] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:50:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:55:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 8542 episode 0 object objadecorativeinsect_40804168b9a340d8935fa277c9e5de74_1_0_2 completed with success=False +[05/27 17:55:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8542: 1 episodes +[05/27 17:55:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:55:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:55:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8542 +[05/27 17:55:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8542 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 17:55:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8542 +[05/27 17:55:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8542: 0/1 successful episodes +[05/27 17:55:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8648 (index 99/116) +[05/27 17:55:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8648 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:55:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place compact handheld gimbal camera with screen next to golden brown artisanal bread +[2026-05-27 17:56:46,176] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:10:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 8648 episode 0 object objagimbalcamera_13523a1c494f4a159aa90ac014c03221_1_0_8 completed with success=False +[05/27 18:10:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8648: 1 episodes +[05/27 18:10:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:10:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:10:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8648 +[05/27 18:10:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8648 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 18:10:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8648 +[05/27 18:10:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8648: 0/1 successful episodes +[05/27 18:10:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8725 (index 100/116) +[05/27 18:10:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:10:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place white remote control with colorful buttons next to smooth green rectangular pillow +[2026-05-27 18:12:11,379] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:12:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:24:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 8725 episode 0 object objaremotecontrol_d72eebbf82be48f0a53e7e8b712e6a66_1_0_6 completed with success=False +[05/27 18:24:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8725: 1 episodes +[05/27 18:24:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:24:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:24:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8725 +[05/27 18:24:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8725 in 2.82s (batch: 2.72s, save: 0.09s) +[05/27 18:24:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8725 +[05/27 18:24:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8725: 0/1 successful episodes +[05/27 18:24:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8833 (index 101/116) +[05/27 18:24:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8833 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:24:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 18:24:44 Worker 0 WARNING object_manager.py:1238] Could not find object objawalkingstick_4f178c32dc494b5e8c57e6f7673bf3c9_1_0_2 in scene +Goal: place butt hinge next to yellowed parchment with red wax seal +[2026-05-27 18:25:47,622] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:26:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8833 episode 0 object objahinge_1ffa7463a95647c5bc8c07359ff161ae_1_0_6 completed with success=True +[05/27 18:28:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8833: 1 episodes +[05/27 18:28:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 90 timesteps +[05/27 18:28:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8833 +[05/27 18:28:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8833 in 2.18s (batch: 2.15s, save: 0.04s) +[05/27 18:28:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8833 +[05/27 18:28:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8833: 1/1 successful episodes +[05/27 18:28:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8884 (index 102/116) +[05/27 18:28:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:28:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 18:28:43 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 18:28:43 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_7 in scene +[05/27 18:28:43 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_b4f0807272244a82aae694536db1b0b2_1_0_7 in scene +Goal: place handmirror next to medieval soldier with spear +[2026-05-27 18:29:45,136] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:42:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 8884 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_4 completed with success=False +[05/27 18:42:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8884: 1 episodes +[05/27 18:42:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:42:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:42:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8884 +[05/27 18:42:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8884 in 2.80s (batch: 2.70s, save: 0.09s) +[05/27 18:42:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8884 +[05/27 18:42:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8884: 0/1 successful episodes +[05/27 18:42:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8972 (index 103/116) +[05/27 18:42:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:42:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place black cast iron teapot with autumn leaves next to red conical flower with leaves +[2026-05-27 18:44:06,322] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:44:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:53:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 8972 episode 0 object objateapot_50ac7cdcf9b440a78a9243f8fab4ff53_1_0_2 completed with success=False +[05/27 18:53:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8972: 1 episodes +[05/27 18:53:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:53:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:53:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8972 +[05/27 18:53:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8972 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 18:53:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8972 +[05/27 18:53:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8972: 0/1 successful episodes +[05/27 18:53:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9024 (index 104/116) +[05/27 18:53:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9024 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:53:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place black decorative sign with guitar next to blue handled scissors +[2026-05-27 18:54:25,675] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:54:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:07:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 9024 episode 0 object objadecorativesign_b44dd97814b44a049bd81501c6850bcf_1_0_2 completed with success=False +[05/27 19:07:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9024: 1 episodes +[05/27 19:07:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:07:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:07:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9024 +[05/27 19:07:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9024 in 2.74s (batch: 2.62s, save: 0.12s) +[05/27 19:07:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9024 +[05/27 19:07:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9024: 0/1 successful episodes +[05/27 19:07:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9092 (index 105/116) +[05/27 19:07:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9092 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 19:07:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place sharp kitchen knife with wooden handle next to compact blue toaster +[2026-05-27 19:09:11,802] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:28:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 9092 episode 0 object objakitchenknife_ab324ce501ee4ce9a35f3df76817dcfb_1_0_2 completed with success=False +[05/27 19:28:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9092: 1 episodes +[05/27 19:28:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:28:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:28:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9092 +[05/27 19:28:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9092 in 2.52s (batch: 2.41s, save: 0.10s) +[05/27 19:28:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9092 +[05/27 19:28:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9092: 0/1 successful episodes +[05/27 19:28:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9163 (index 106/116) +[05/27 19:28:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 19:28:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 19:28:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene +[05/27 19:28:42 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene +Goal: place wall hook next to yellow vase +[2026-05-27 19:29:45,783] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:30:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:44:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9163 episode 0 object objawallhook_7326578d9a0947e3890e8d50db79a033_1_0_4 completed with success=False +[05/27 19:44:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9163: 1 episodes +[05/27 19:44:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:44:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:44:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9163 +[05/27 19:44:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9163 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 19:44:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9163 +[05/27 19:44:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9163: 0/1 successful episodes +[05/27 19:44:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9187 (index 107/116) +[05/27 19:44:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9187 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 19:44:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 in scene +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaduck_7db7cf276de344fca99a29c88bb1e7df_1_0_8 in scene +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_8 in scene +Goal: place small green seedling in terracotta pot next to medium cardboard box with flaps +[2026-05-27 19:45:38,245] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:46:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:59:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9187 episode 0 object objaplantpot_51030882447e428a8efec83649ee3172_1_0_9 completed with success=False +[05/27 19:59:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 in scene +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaduck_7db7cf276de344fca99a29c88bb1e7df_1_0_8 in scene +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_8 in scene +Goal: place glossy slender curved green stick next to metal spear +[2026-05-27 20:00:48,794] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:01:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:14:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9187 episode 1 object objadecorativerod_3dd7a9dee7234665826875b678fac3eb_1_0_9 completed with success=False +[05/27 20:14:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9187: 2 episodes +[05/27 20:14:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:14:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:14:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:14:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:14:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9187 +[05/27 20:14:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9187 in 5.43s (batch: 5.26s, save: 0.17s) +[05/27 20:14:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9187 +[05/27 20:14:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9187: 0/2 successful episodes +[05/27 20:14:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9252 (index 108/116) +[05/27 20:14:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9252 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:14:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_7 in scene +Goal: place green smoke grenade next to small brown oval potato +[2026-05-27 20:16:03,795] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:32:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9252 episode 0 object objasmokegrenade_6dbb48151a9147b4830aa7bf55fc8282_1_0_2 completed with success=False +[05/27 20:32:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9252: 1 episodes +[05/27 20:32:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:32:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:32:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9252 +[05/27 20:32:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9252 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 20:32:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9252 +[05/27 20:32:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9252: 0/1 successful episodes +[05/27 20:32:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9320 (index 109/116) +[05/27 20:32:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:32:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place dark stone cylindrical seal with carvings next to dark metal cooking pot +[2026-05-27 20:33:40,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:40:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 9320 episode 0 object objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_2 completed with success=False +[05/27 20:40:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9320: 1 episodes +[05/27 20:40:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:40:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:40:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9320 +[05/27 20:40:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9320 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 20:40:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9320 +[05/27 20:40:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9320: 0/1 successful episodes +[05/27 20:40:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9423 (index 110/116) +[05/27 20:40:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9423 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:40:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place dark horse knight chess piece next to light gray wooden bowl +[2026-05-27 20:42:10,494] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:42:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:57:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 9423 episode 0 object objachesspiece_d7e344aa00cc462586cede69e49613fd_1_0_3 completed with success=False +[05/27 20:57:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9423: 1 episodes +[05/27 20:57:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:57:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:57:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9423 +[05/27 20:57:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9423 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 20:57:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9423 +[05/27 20:57:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9423: 0/1 successful episodes +[05/27 20:57:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9502 (index 111/116) +[05/27 20:57:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:57:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 20:58:14 Worker 0 WARNING object_manager.py:1238] Could not find object objasign_34df7c8bc2604403b69cfda448a2ff8e_1_0_3 in scene +Goal: place intricate dark wooden molding with carvings next to large mottled bone vertebra +[2026-05-27 20:59:19,137] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:59:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:14:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9502 episode 0 object objamolding_0cec9637549f4355a4067cbf732f028f_1_0_3 completed with success=False +[05/27 21:14:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9502: 1 episodes +[05/27 21:14:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:14:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:14:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9502 +[05/27 21:14:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9502 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 21:14:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9502 +[05/27 21:14:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9502: 0/1 successful episodes +[05/27 21:14:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9588 (index 112/116) +[05/27 21:14:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9588 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:14:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/27 21:15:01 Worker 0 WARNING object_manager.py:1238] Could not find object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2 in scene +[05/27 21:15:01 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_1_0_2 in scene +Goal: place triangular pink cheese wedge next to green apple +[2026-05-27 21:16:04,388] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:16:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:22:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 9588 episode 0 object objacheese_b945c8c26cf540229510b7d9e65f98c7_1_0_2 completed with success=False +[05/27 21:22:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9588: 1 episodes +[05/27 21:22:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:22:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:22:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9588 +[05/27 21:22:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9588 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 21:22:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9588 +[05/27 21:22:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9588: 0/1 successful episodes +[05/27 21:22:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9651 (index 113/116) +[05/27 21:22:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9651 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:22:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 21:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_6 in scene +Goal: place blocky wooden hourglass with sand next to slim blue phone device +[2026-05-27 21:24:22,507] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:24:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:37:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9651 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_8 completed with success=False +[05/27 21:37:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9651: 1 episodes +[05/27 21:37:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:37:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:37:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9651 +[05/27 21:37:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9651 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 21:37:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9651 +[05/27 21:37:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9651: 0/1 successful episodes +[05/27 21:37:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9727 (index 114/116) +[05/27 21:37:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:37:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/27 21:37:43 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene +Goal: place dark stone cylindrical seal with carvings next to brown fish with large eyes +[2026-05-27 21:38:47,566] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:48:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 9727 episode 0 object objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_6 completed with success=False +[05/27 21:48:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9727: 1 episodes +[05/27 21:48:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:48:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:48:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9727 +[05/27 21:48:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9727 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 21:48:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9727 +[05/27 21:48:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9727: 0/1 successful episodes +[05/27 21:48:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9887 (index 115/116) +[05/27 21:48:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9887 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:48:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 21:48:51 Worker 0 WARNING object_manager.py:1238] Could not find object objatube_747652d3308142278b333f1e2ee13549_1_0_9 in scene +Goal: place stoneaxe next to white hardcover academic book +[2026-05-27 21:49:57,338] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:06:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 9887 episode 0 object objastoneaxe_11654de384f440d7ba70c71febdff3cc_1_0_2 completed with success=False +[05/27 22:06:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9887: 1 episodes +[05/27 22:06:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:06:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:06:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9887 +[05/27 22:06:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9887 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 22:06:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9887 +[05/27 22:06:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9887: 0/1 successful episodes +[05/27 22:06:51 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 22:06:52 INFO pipeline.py:1496] Completed 116 houses, skipped 0 houses +[05/27 22:06:52 INFO pipeline.py:1499] Success count: 8, Total count: 120 +[05/27 22:06:52 INFO pipeline.py:1500] Success rate: 6.67% +Combined 120 episodes from 116 files → /tmp/tmpz4a64pon.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv at-end: 6.67% | oracle: 6.67% of 120 episodes +[2026-05-27 22:07:06,169] INFO MolmoSpaces simulator eval finished: success=8/120 rate=0.0667 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval +[2026-05-27 22:07:06,169] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..b1d0f8135bff665cb152a60ef0cb53c309d07039 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/run.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/run.log new file mode 100644 index 0000000000000000000000000000000000000000..ace3973c8062f2c32dd739a04edad99a3f2c8739 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/run.log @@ -0,0 +1,3700 @@ +[2026-05-26 19:43:51,131] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,133] INFO Using MuJoCo EGL device id: 1 +[2026-05-26 19:43:51,133] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,178] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 (source=arg) +[2026-05-26 19:43:53,191] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:03,529] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,279] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,755] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,188] INFO JsonEvalRunner initialized: 114 houses, 118 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 114 houses with 2 episodes each (228 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [591, + 628, + 699, + 744, + 803, + 884, + 988, + 1065, + 1184, + 1265, + 1339, + 1415, + 1552, + 1667, + 1734, + 1793, + 1916, + 2025, + 2094, + 2201, + 2331, + 2434, + 2490, + 2599, + 2724, + 2834, + 2892, + 3019, + 3122, + 3224, + 3273, + 3346, + 3409, + 3500, + 3577, + 3677, + 3749, + 3816, + 3871, + 3993, + 4079, + 4191, + 4255, + 4298, + 4345, + 4439, + 4514, + 4636, + 4685, + 4696, + 4731, + 4821, + 4917, + 4999, + 5103, + 5181, + 5248, + 5418, + 5507, + 5578, + 5632, + 5708, + 5836, + 5907, + 5980, + 6083, + 6153, + 6240, + 6287, + 6348, + 6403, + 6515, + 6616, + 6733, + 6787, + 6819, + 6930, + 6991, + 7043, + 7126, + 7192, + 7319, + 7356, + 7434, + 7480, + 7613, + 7705, + 7790, + 7871, + 7985, + 8087, + 8177, + 8235, + 8314, + 8392, + 8478, + 8546, + 8662, + 8727, + 8848, + 8896, + 8981, + 9033, + 9094, + 9169, + 9259, + 9327, + 9431, + 9511, + 9591, + 9660, + 9742, + 9850, + 9899], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,193] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 591 (index 0/114) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_5 in scene +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_2_0_5 in scene +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place large rusty metal nail next to fresh round green lettuce +2026-05-26 19:48:36.018 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:36,941] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:38,982] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:39,567] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:39,822] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:39,825] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 19:57:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 591 episode 0 object objanail_7ef93eea9c5349abb276931726681dc3_1_0_6 completed with success=False +[05/26 19:57:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_591: 1 episodes +[05/26 19:57:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:57:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:57:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_591 +[05/26 19:57:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_591 in 2.84s (batch: 2.76s, save: 0.09s) +[05/26 19:57:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_591 +[05/26 19:57:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 591: 0/1 successful episodes +[05/26 19:57:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 628 (index 1/114) +[05/26 19:57:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 628 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 19:57:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaturbinewheel_95bbc607d38d4865b6d9618799710335_1_0_4 in scene +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_4 in scene +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_9 in scene +Goal: place circular gold ornate openwork ornament next to shiny gold vase +[2026-05-26 19:59:09,924] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 19:59:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:13:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 628 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_4 completed with success=False +[05/26 20:13:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_628: 1 episodes +[05/26 20:13:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:13:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:13:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_628 +[05/26 20:13:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_628 in 2.76s (batch: 2.68s, save: 0.09s) +[05/26 20:13:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_628 +[05/26 20:13:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 628: 0/1 successful episodes +[05/26 20:13:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 699 (index 2/114) +[05/26 20:13:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 699 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:13:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 20:13:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_9 in scene +Goal: place gray polished human hand statue next to large black hardcover book titled noughts +[2026-05-26 20:14:43,567] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:15:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:28:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 699 episode 0 object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_4 completed with success=False +[05/26 20:28:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_699: 1 episodes +[05/26 20:28:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:28:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:28:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_699 +[05/26 20:28:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_699 in 2.97s (batch: 2.88s, save: 0.09s) +[05/26 20:28:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_699 +[05/26 20:28:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 699: 0/1 successful episodes +[05/26 20:28:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 744 (index 3/114) +[05/26 20:28:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 744 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:28:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place gas torch next to white and teal instant camera +[2026-05-26 20:29:38,232] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:30:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:38:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 744 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_2_0_6 completed with success=False +[05/26 20:38:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_744: 1 episodes +[05/26 20:38:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:38:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:38:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_744 +[05/26 20:38:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_744 in 2.95s (batch: 2.86s, save: 0.09s) +[05/26 20:38:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_744 +[05/26 20:38:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 744: 0/1 successful episodes +[05/26 20:38:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 803 (index 4/114) +[05/26 20:38:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 803 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:38:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place sleek turquoise tape dispenser with base next to black paint can +[2026-05-26 20:40:06,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:50:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 803 episode 0 object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 completed with success=False +[05/26 20:50:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_803: 1 episodes +[05/26 20:50:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:50:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:50:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_803 +[05/26 20:50:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_803 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 20:50:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_803 +[05/26 20:50:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 803: 0/1 successful episodes +[05/26 20:50:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 884 (index 5/114) +[05/26 20:50:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:50:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 20:50:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaaircraftmodel_af978d4fc4f6450a8108f62cd11941b8_1_0_6 in scene +[05/26 20:50:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_6 in scene +Goal: place blue can next to blue soap bottle with pump +[2026-05-26 20:51:35,786] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:09:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 884 episode 0 object objaspraycan_761fd13227bd411a9a10d9ecae0e6b8d_1_0_5 completed with success=False +[05/26 21:09:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_884: 1 episodes +[05/26 21:09:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:09:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:09:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_884 +[05/26 21:09:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_884 in 2.80s (batch: 2.71s, save: 0.09s) +[05/26 21:09:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_884 +[05/26 21:09:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 884: 0/1 successful episodes +[05/26 21:09:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 988 (index 6/114) +[05/26 21:09:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 988 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:09:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 21:10:05 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place circular stone disc with hole next to bronze full-figured statue +[2026-05-26 21:11:01,473] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:11:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:22:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 988 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_8 completed with success=False +[05/26 21:22:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_988: 1 episodes +[05/26 21:22:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:22:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:22:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_988 +[05/26 21:22:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_988 in 2.85s (batch: 2.76s, save: 0.09s) +[05/26 21:22:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_988 +[05/26 21:22:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 988: 0/1 successful episodes +[05/26 21:22:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1065 (index 7/114) +[05/26 21:22:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1065 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:22:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place circular stone disc with hole next to small glossy turquoise eye of horus amulet +[2026-05-26 21:23:47,891] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:24:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:38:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 1065 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_4 completed with success=False +[05/26 21:38:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1065: 1 episodes +[05/26 21:38:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:38:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:38:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1065 +[05/26 21:38:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1065 in 2.82s (batch: 2.73s, save: 0.09s) +[05/26 21:38:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1065 +[05/26 21:38:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1065: 0/1 successful episodes +[05/26 21:38:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1184 (index 8/114) +[05/26 21:38:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:38:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place rustic round clay dish with handles next to transparent tall wine glass +[2026-05-26 21:39:41,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:40:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:45:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1184 episode 0 object objaclaydish_fb56f8968a9c443897498a9ccf5c46d1_1_0_2 completed with success=False +[05/26 21:45:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1184: 1 episodes +[05/26 21:45:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:45:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:45:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1184 +[05/26 21:45:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1184 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 21:45:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1184 +[05/26 21:45:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1184: 0/1 successful episodes +[05/26 21:45:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1265 (index 9/114) +[05/26 21:45:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1265 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:45:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 21:46:03 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_7 in scene +[05/26 21:46:03 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene +Goal: place red u-shaped magnet next to smooth green rectangular pillow cushion +[2026-05-26 21:47:03,568] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:47:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:59:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 1265 episode 0 object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_9 completed with success=False +[05/26 21:59:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1265: 1 episodes +[05/26 21:59:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:59:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:59:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1265 +[05/26 21:59:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1265 in 2.26s (batch: 2.14s, save: 0.12s) +[05/26 21:59:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1265 +[05/26 21:59:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1265: 0/1 successful episodes +[05/26 21:59:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1339 (index 10/114) +[05/26 21:59:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1339 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:59:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place gray metal bolt next to simple light brown ceramic bowl +[2026-05-26 22:00:42,156] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:01:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:06:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 1339 episode 0 object objabolt_4f48638f93984ef0a7e6cfc6cc1e08f2_1_0_2 completed with success=False +[05/26 22:06:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1339: 1 episodes +[05/26 22:06:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:07:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:07:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1339 +[05/26 22:07:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1339 in 2.79s (batch: 2.70s, save: 0.09s) +[05/26 22:07:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1339 +[05/26 22:07:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1339: 0/1 successful episodes +[05/26 22:07:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1415 (index 11/114) +[05/26 22:07:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1415 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:07:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 22:07:33 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_5 in scene +[05/26 22:07:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_5 in scene +Goal: place clothes iron next to rusty adjustable metal wrench +[2026-05-26 22:08:34,776] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:21:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 1415 episode 0 object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_8 completed with success=False +[05/26 22:22:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1415: 1 episodes +[05/26 22:22:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:22:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:22:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1415 +[05/26 22:22:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1415 in 2.89s (batch: 2.80s, save: 0.09s) +[05/26 22:22:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1415 +[05/26 22:22:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1415: 0/1 successful episodes +[05/26 22:22:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1552 (index 12/114) +[05/26 22:22:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1552 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:22:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 22:22:12 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_be2f9b16082544e2ac5f9f54a3d8eebc_1_0_7 in scene +[05/26 22:22:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_3d4e113786854a1abfd0b00d141ca9e3_1_0_7 in scene +Goal: place vintage brown leather helmet next to pink and black toy sniper rifle +[2026-05-26 22:23:13,691] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:38:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1552 episode 0 object objaaviatorhelmet_1c5917c1e9d147a984725886fc917ea7_1_0_9 completed with success=False +[05/26 22:38:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1552: 1 episodes +[05/26 22:38:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:38:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:38:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1552 +[05/26 22:38:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1552 in 2.89s (batch: 2.80s, save: 0.09s) +[05/26 22:38:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1552 +[05/26 22:38:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1552: 0/1 successful episodes +[05/26 22:38:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1667 (index 13/114) +[05/26 22:38:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1667 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:38:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 22:39:18 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_9 in scene +[05/26 22:39:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_9 in scene +Goal: place gold and white cross medal next to light blue plastic bottle +[2026-05-26 22:40:19,583] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:40:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:56:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 1667 episode 0 object objamedal_4d3a363b65fc4ace9d01178a16337840_1_0_2 completed with success=False +[05/26 22:56:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1667: 1 episodes +[05/26 22:56:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:56:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:56:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1667 +[05/26 22:56:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1667 in 2.81s (batch: 2.73s, save: 0.09s) +[05/26 22:56:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1667 +[05/26 22:56:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1667: 0/1 successful episodes +[05/26 22:56:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1734 (index 14/114) +[05/26 22:56:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1734 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:56:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/26 22:57:02 Worker 0 WARNING object_manager.py:1238] Could not find object objamechanicalpencil_5807b5f6ebcf4dc1b731c6907b180af7_1_0_7 in scene +[05/26 22:57:02 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_ab2df3cd7ba6e36f1f725f462a622119_1_0_7 in scene +Goal: place dark gray matte bowl with ridges next to glossy yellow vase rounded +[2026-05-26 22:58:04,638] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:58:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:10:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 1734 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_4 completed with success=False +[05/26 23:10:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1734: 1 episodes +[05/26 23:10:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:10:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:10:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1734 +[05/26 23:10:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1734 in 2.25s (batch: 2.16s, save: 0.09s) +[05/26 23:10:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1734 +[05/26 23:10:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1734: 0/1 successful episodes +[05/26 23:10:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1793 (index 15/114) +[05/26 23:10:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1793 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:10:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 23:10:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene +[05/26 23:10:30 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_6 in scene +Goal: place irregular pale off-white rawhide piece next to miniature tall column with golden statue +[2026-05-26 23:11:32,653] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:12:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:27:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1793 episode 0 object objarawhide_45af38b66555426a8c719a7507a35930_1_0_2 completed with success=False +[05/26 23:27:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1793: 1 episodes +[05/26 23:27:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:27:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:27:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1793 +[05/26 23:27:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1793 in 2.29s (batch: 2.19s, save: 0.09s) +[05/26 23:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1793 +[05/26 23:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1793: 0/1 successful episodes +[05/26 23:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1916 (index 16/114) +[05/26 23:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/26 23:27:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_026dfb57bcb5406688a7b20dfbecc6c2_1_0_5 in scene +Goal: place blue pcb next to soft orange plaid pillow cushion +[2026-05-26 23:28:14,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:36:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 1916 episode 0 object objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_2_0_3 completed with success=False +[05/26 23:36:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1916: 1 episodes +[05/26 23:36:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:36:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:36:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1916 +[05/26 23:36:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1916 in 2.27s (batch: 2.18s, save: 0.09s) +[05/26 23:36:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1916 +[05/26 23:36:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1916: 0/1 successful episodes +[05/26 23:36:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2025 (index 17/114) +[05/26 23:36:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2025 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:36:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place tall cream colored candle next to green plastic spray bottle with nozzle +[2026-05-26 23:39:26,423] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:39:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:47:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 2025 episode 0 object objacandle_5db8644a217c4525a89b5d6bc42265e9_1_0_5 completed with success=False +[05/26 23:47:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2025: 1 episodes +[05/26 23:47:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:47:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:47:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2025 +[05/26 23:47:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2025 in 2.25s (batch: 2.16s, save: 0.09s) +[05/26 23:47:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2025 +[05/26 23:47:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2025: 0/1 successful episodes +[05/26 23:47:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2094 (index 18/114) +[05/26 23:47:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2094 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:47:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 23:49:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place ancient greek black cup next to rectangular yellow plaid pillow +[2026-05-26 23:50:04,980] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:55:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 2094 episode 0 object objakylix_d9cc347595664f83bc1461c857756452_1_0_8 completed with success=True +[05/26 23:55:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2094: 1 episodes +[05/26 23:55:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 171 timesteps +[05/26 23:55:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:55:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2094 +[05/26 23:55:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2094 in 2.06s (batch: 2.01s, save: 0.05s) +[05/26 23:55:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2094 +[05/26 23:55:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2094: 1/1 successful episodes +[05/26 23:55:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2201 (index 19/114) +[05/26 23:55:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2201 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:55:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place black grenade with red panels next to sharp black knife +[2026-05-27 00:03:21,517] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:09:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2201 episode 0 object objagrenade_2fade8f2122d4af5b473cc42ddcb1319_1_0_2 completed with success=False +[05/27 00:09:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2201: 1 episodes +[05/27 00:09:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:09:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:09:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2201 +[05/27 00:09:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2201 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 00:09:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2201 +[05/27 00:09:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2201: 0/1 successful episodes +[05/27 00:09:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2331 (index 20/114) +[05/27 00:09:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2331 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:09:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place colorful ceramic decorative bowl next to black fish with fins +[2026-05-27 00:11:25,343] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:12:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:16:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2331 episode 0 object objadecorativebowl_906fdc79f5d84e8e8b3b467e794a8c00_1_0_2 completed with success=False +[05/27 00:16:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2331: 1 episodes +[05/27 00:16:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:16:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:16:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2331 +[05/27 00:16:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2331 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 00:16:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2331 +[05/27 00:16:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2331: 0/1 successful episodes +[05/27 00:16:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2434 (index 21/114) +[05/27 00:16:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2434 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:16:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 00:17:23 Worker 0 WARNING object_manager.py:1238] Could not find object objascifiprop_5026a368dea643a38510c9c0556c8160_1_0_8 in scene +[05/27 00:17:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaportableradio_4ce29893e26c4f9f9495708b6962f965_1_0_8 in scene +Goal: place compact camouflage weapon sight with reticle next to muscular dark glossy statue standing +[2026-05-27 00:18:25,433] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:18:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:36:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 2434 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6 completed with success=False +[05/27 00:36:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2434: 1 episodes +[05/27 00:36:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:36:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:36:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2434 +[05/27 00:36:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2434 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 00:36:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2434 +[05/27 00:36:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2434: 0/1 successful episodes +[05/27 00:36:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2490 (index 22/114) +[05/27 00:36:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2490 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:36:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 00:36:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingbracket_3bdbefaa473e4bf5bf06a095689d00cb_1_0_2 in scene +Goal: place red lava spike next to houseplant +[2026-05-27 00:37:17,409] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:37:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:53:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 2490 episode 0 object objadecorativespike_0b7f50f543a24b84939dcb9a12754534_1_0_2 completed with success=False +[05/27 00:53:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2490: 1 episodes +[05/27 00:53:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:53:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:53:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2490 +[05/27 00:53:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2490 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 00:53:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2490 +[05/27 00:53:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2490: 0/1 successful episodes +[05/27 00:53:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2599 (index 23/114) +[05/27 00:53:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:53:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 00:54:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +[05/27 00:54:00 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_50b6e50751754a0d9c0fa8c6f950289b_1_0_5 in scene +Goal: place sleek dark rectangular phone next to golden brown loaf of bread +[2026-05-27 00:55:03,609] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:10:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 2599 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8 completed with success=False +[05/27 01:10:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2599: 1 episodes +[05/27 01:10:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:10:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:10:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2599 +[05/27 01:10:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2599 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 01:10:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2599 +[05/27 01:10:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2599: 0/1 successful episodes +[05/27 01:10:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2724 (index 24/114) +[05/27 01:10:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2724 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 01:10:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 01:11:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place blue disc with white airplane icon next to explosive device +[2026-05-27 01:12:18,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:27:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 2724 episode 0 object objadecorativedisc_26490714f2394b508764726a9341aefe_1_0_9 completed with success=False +[05/27 01:27:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2724: 1 episodes +[05/27 01:27:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:27:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:27:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2724 +[05/27 01:27:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2724 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 01:27:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2724 +[05/27 01:27:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2724: 0/1 successful episodes +[05/27 01:27:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2834 (index 25/114) +[05/27 01:27:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2834 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 01:27:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_9 in scene +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_9 in scene +Goal: place black chef knife next to glossy green cup with flared rim +[2026-05-27 01:28:37,469] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:29:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:47:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 2834 episode 0 object objachefsknife_1e7b5d7445884162b4154bd80e587baf_1_0_2 completed with success=False +[05/27 01:47:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2834: 1 episodes +[05/27 01:47:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:47:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:47:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2834 +[05/27 01:47:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2834 in 2.29s (batch: 2.20s, save: 0.09s) +[05/27 01:47:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2834 +[05/27 01:47:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2834: 0/1 successful episodes +[05/27 01:47:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2892 (index 26/114) +[05/27 01:47:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2892 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 01:47:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 01:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemap_953f774954d249b38943e1c8542db499_2_0_4 in scene +[05/27 01:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +Goal: place adhesivetape next to soapdispenser +[2026-05-27 01:49:37,469] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:50:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:00:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 2892 episode 0 object objaadhesivetape_a579c57c161d4e4babf9761d601ddd2c_1_0_6 completed with success=False +[05/27 02:00:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2892: 1 episodes +[05/27 02:00:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:00:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:00:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2892 +[05/27 02:00:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2892 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 02:00:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2892 +[05/27 02:00:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2892: 0/1 successful episodes +[05/27 02:00:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3019 (index 27/114) +[05/27 02:00:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:00:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 02:00:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_f8de4975c0f54c1a97203c6a674f6a39_1_0_5 in scene +[05/27 02:00:51 Worker 0 WARNING object_manager.py:1238] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene +Goal: place handheld mirror next to decorative bird +[2026-05-27 02:01:57,408] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:16:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 3019 episode 0 object objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_2_0_9 completed with success=False +[05/27 02:16:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3019: 1 episodes +[05/27 02:16:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:16:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:16:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3019 +[05/27 02:16:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3019 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 02:16:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3019 +[05/27 02:16:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3019: 0/1 successful episodes +[05/27 02:16:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3122 (index 28/114) +[05/27 02:16:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3122 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:16:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place container next to sorbent +[2026-05-27 02:17:55,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:18:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:26:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3122 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3 completed with success=False +[05/27 02:26:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3122: 1 episodes +[05/27 02:26:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:26:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:26:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3122 +[05/27 02:26:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3122 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 02:26:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3122 +[05/27 02:26:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3122: 0/1 successful episodes +[05/27 02:26:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3224 (index 29/114) +[05/27 02:26:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3224 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:26:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place blue metal clamp next to cassette recorder +[2026-05-27 02:27:34,266] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:28:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:43:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3224 episode 0 object objabarclamp_cb6dfd3688694664b9fadfe4556882d1_1_0_4 completed with success=False +[05/27 02:43:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3224: 1 episodes +[05/27 02:43:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:43:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:43:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3224 +[05/27 02:43:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3224 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 02:43:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3224 +[05/27 02:43:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3224: 0/1 successful episodes +[05/27 02:43:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3273 (index 30/114) +[05/27 02:43:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:43:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place solid food next to classic blue and white camper van +[2026-05-27 02:44:53,506] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:45:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:53:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3273 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_6 completed with success=False +[05/27 02:54:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3273: 1 episodes +[05/27 02:54:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:54:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:54:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3273 +[05/27 02:54:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3273 in 2.78s (batch: 2.70s, save: 0.09s) +[05/27 02:54:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3273 +[05/27 02:54:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3273: 0/1 successful episodes +[05/27 02:54:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3346 (index 31/114) +[05/27 02:54:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:54:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place blue clock next to rustic ceramic bowl with handles +[2026-05-27 02:55:23,901] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:56:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:07:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3346 episode 0 object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_6 completed with success=False +[05/27 03:07:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3346: 1 episodes +[05/27 03:07:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:07:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:07:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3346 +[05/27 03:07:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3346 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 03:07:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3346 +[05/27 03:07:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3346: 0/1 successful episodes +[05/27 03:07:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3409 (index 32/114) +[05/27 03:07:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3409 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 03:07:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place beige sponge next to white spine thin book +[2026-05-27 03:09:01,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:09:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:22:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3409 episode 0 object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_2 completed with success=False +[05/27 03:22:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3409: 1 episodes +[05/27 03:22:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:22:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:22:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3409 +[05/27 03:22:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3409 in 2.21s (batch: 2.12s, save: 0.10s) +[05/27 03:22:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3409 +[05/27 03:22:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3409: 0/1 successful episodes +[05/27 03:22:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3500 (index 33/114) +[05/27 03:22:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 03:22:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 03:22:37 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_c434ce940f1b4c2d2b3652e7c1fc3eba_1_0_7 in scene +[05/27 03:22:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaspring_3071830f2d3e4b57a59976719298c808_1_0_7 in scene +Goal: place black and yellow handheld radio next to gray sculpture with textured indentations +[2026-05-27 03:23:40,576] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:41:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3500 episode 0 object objahandheldradio_5e2b1233523f47adbe3e9e894568f0d2_1_0_4 completed with success=False +[05/27 03:41:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3500: 1 episodes +[05/27 03:41:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:41:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:41:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3500 +[05/27 03:41:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3500 in 2.87s (batch: 2.76s, save: 0.11s) +[05/27 03:41:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3500 +[05/27 03:41:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3500: 0/1 successful episodes +[05/27 03:41:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3577 (index 34/114) +[05/27 03:41:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 03:41:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/64 [00:00 does not support tracking retries. +Goal: place compact black rail mount with slots next to simple light brown ceramic bowl +[2026-05-27 03:42:49,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:01:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3577 episode 0 object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_4 completed with success=False +[05/27 04:01:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3577: 1 episodes +[05/27 04:01:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:01:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:01:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3577 +[05/27 04:01:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3577 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 04:01:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3577 +[05/27 04:01:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3577: 0/1 successful episodes +[05/27 04:01:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3677 (index 35/114) +[05/27 04:01:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3677 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:01:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place red pot next to lettuce +[2026-05-27 04:03:03,501] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:13:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3677 episode 0 object objacookingpot_491cd880ee9949758492015247cd04da_1_0_6 completed with success=False +[05/27 04:13:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3677: 1 episodes +[05/27 04:13:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:13:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:13:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3677 +[05/27 04:13:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3677 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 04:13:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3677 +[05/27 04:13:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3677: 0/1 successful episodes +[05/27 04:13:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3749 (index 36/114) +[05/27 04:13:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:13:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 04:13:43 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +Goal: place decorativescript next to vegetable +[2026-05-27 04:14:46,990] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:15:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:30:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 3749 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_2_0_2 completed with success=False +[05/27 04:30:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3749: 1 episodes +[05/27 04:30:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:30:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:30:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3749 +[05/27 04:30:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3749 in 2.23s (batch: 2.13s, save: 0.10s) +[05/27 04:30:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3749 +[05/27 04:30:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3749: 0/1 successful episodes +[05/27 04:30:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3816 (index 37/114) +[05/27 04:30:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3816 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:30:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place dark wrench tool with hexagonal opening next to smooth brown egg +[2026-05-27 04:31:28,556] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:32:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:33:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3816 episode 0 object objawrench_430ce447c62b42229f6b229f9f21890b_1_0_8 completed with success=False +[05/27 04:33:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place green and black pliers next to small grassy patch with dirt +[2026-05-27 04:34:52,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:35:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:50:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 3816 episode 1 object objapliers_5a293649f3f64061accc9afdb4008c25_1_0_4 completed with success=False +[05/27 04:50:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3816: 2 episodes +[05/27 04:50:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:50:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:50:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3816 +[05/27 04:50:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3816 in 4.56s (batch: 4.38s, save: 0.18s) +[05/27 04:50:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3816 +[05/27 04:50:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3816: 0/2 successful episodes +[05/27 04:50:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3871 (index 38/114) +[05/27 04:50:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:50:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 04:50:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene +[05/27 04:50:42 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +Goal: place round soft fuzzy peach next to red toy rocket with fins +[2026-05-27 04:51:45,684] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:03:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3871 episode 0 object objafruit_bb7f4908308d4ba5bce1b07d4d730904_1_0_8 completed with success=False +[05/27 05:03:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3871: 1 episodes +[05/27 05:03:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:03:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:03:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3871 +[05/27 05:03:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3871 in 2.33s (batch: 2.24s, save: 0.09s) +[05/27 05:03:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3871 +[05/27 05:03:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3871: 0/1 successful episodes +[05/27 05:03:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3993 (index 39/114) +[05/27 05:03:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:03:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 05:03:50 Worker 0 WARNING object_manager.py:1238] Could not find object objagardenfork_ce1900ce820a4a419d376d1532e85bcf_1_0_4 in scene +[05/27 05:03:50 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturebuilding_1954e7fb9f324e26973b1d34f5358040_1_0_7 in scene +[05/27 05:03:50 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_7 in scene +Goal: place green alien bust next to brown bread +[2026-05-27 05:04:54,178] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:05:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:18:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3993 episode 0 object objaalienbust_1f2fa3f8b4ed4ffb8ad3b95d404b1a55_1_0_8 completed with success=False +[05/27 05:18:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3993: 1 episodes +[05/27 05:18:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:18:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:18:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3993 +[05/27 05:18:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3993 in 2.18s (batch: 2.09s, save: 0.09s) +[05/27 05:18:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3993 +[05/27 05:18:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3993: 0/1 successful episodes +[05/27 05:18:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4079 (index 40/114) +[05/27 05:18:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:18:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place butterfly knife with colorful gradient blade next to bulbous shiny gold metallic vase +[2026-05-27 05:19:45,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:39:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4079 episode 0 object objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8 completed with success=False +[05/27 05:39:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4079: 1 episodes +[05/27 05:39:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:39:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:39:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4079 +[05/27 05:39:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4079 in 2.36s (batch: 2.27s, save: 0.10s) +[05/27 05:39:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4079 +[05/27 05:39:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4079: 0/1 successful episodes +[05/27 05:39:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4191 (index 41/114) +[05/27 05:39:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:39:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place disposable coffee cup next to gray hand statue +[2026-05-27 05:40:38,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:50:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4191 episode 0 object objadisposablecoffeecup_b74978f41afd40b4825b1d99478a4d68_3_0_6 completed with success=False +[05/27 05:50:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4191: 1 episodes +[05/27 05:50:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:50:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:50:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4191 +[05/27 05:50:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4191 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 05:50:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4191 +[05/27 05:50:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4191: 0/1 successful episodes +[05/27 05:50:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4255 (index 42/114) +[05/27 05:50:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:50:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 05:50:52 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_7 in scene +[05/27 05:50:52 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene +Goal: place slender greenish-gray pointed stone arrowhead next to colorful red bird +[2026-05-27 05:51:55,234] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:04:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4255 episode 0 object objastonetool_98fcfd7e7d24420c832a048faa60dc8a_1_0_9 completed with success=False +[05/27 06:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4255: 1 episodes +[05/27 06:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:04:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:04:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4255 +[05/27 06:04:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4255 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 06:04:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4255 +[05/27 06:04:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4255: 0/1 successful episodes +[05/27 06:04:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4298 (index 43/114) +[05/27 06:04:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:04:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place small white bird next to green hardcover book titled the effective engineer +[2026-05-27 06:06:14,402] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:06:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:22:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4298 episode 0 object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_6 completed with success=False +[05/27 06:22:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4298: 1 episodes +[05/27 06:22:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:22:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:22:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4298 +[05/27 06:22:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4298 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 06:22:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4298 +[05/27 06:22:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4298: 0/1 successful episodes +[05/27 06:22:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4345 (index 44/114) +[05/27 06:22:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4345 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:22:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place yellow card featuring snoopy flowers next to wooden roller with spikes and carving +[2026-05-27 06:23:42,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:24:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:38:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4345 episode 0 object objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_4 completed with success=False +[05/27 06:38:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4345: 1 episodes +[05/27 06:38:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:38:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:38:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4345 +[05/27 06:38:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4345 in 3.03s (batch: 2.93s, save: 0.10s) +[05/27 06:38:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4345 +[05/27 06:38:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4345: 0/1 successful episodes +[05/27 06:38:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4439 (index 45/114) +[05/27 06:38:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:38:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place rustic wooden lemon squeezer next to amber cylindrical prescription pill bottle +[2026-05-27 06:39:33,531] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:49:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4439 episode 0 object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 completed with success=False +[05/27 06:49:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4439: 1 episodes +[05/27 06:49:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:50:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:50:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4439 +[05/27 06:50:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4439 in 2.96s (batch: 2.87s, save: 0.09s) +[05/27 06:50:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4439 +[05/27 06:50:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4439: 0/1 successful episodes +[05/27 06:50:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4514 (index 46/114) +[05/27 06:50:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:50:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place cutter next to simple light brown ceramic bowl +[2026-05-27 06:51:16,605] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:51:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:02:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4514 episode 0 object objaknife_c043b12ebc1b41c8813036247e6b2f54_1_0_6 completed with success=False +[05/27 07:02:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4514: 1 episodes +[05/27 07:02:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:02:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:02:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4514 +[05/27 07:02:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4514 in 2.30s (batch: 2.20s, save: 0.10s) +[05/27 07:02:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4514 +[05/27 07:02:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4514: 0/1 successful episodes +[05/27 07:02:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4636 (index 47/114) +[05/27 07:02:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4636 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:02:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 07:02:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place teal cordless angle grinder tool next to black wall hook with red accent +[2026-05-27 07:03:30,960] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:18:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4636 episode 0 object objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_3 completed with success=False +[05/27 07:18:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4636: 1 episodes +[05/27 07:18:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:18:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:18:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4636 +[05/27 07:18:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4636 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 07:18:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4636 +[05/27 07:18:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4636: 0/1 successful episodes +[05/27 07:18:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4685 (index 48/114) +[05/27 07:18:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4685 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:18:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place light rectangular amulet with seated figure next to lifelike dark stag beetle +[2026-05-27 07:19:37,440] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:20:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:26:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4685 episode 0 object objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_2 completed with success=False +[05/27 07:26:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4685: 1 episodes +[05/27 07:26:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:26:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:26:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4685 +[05/27 07:26:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4685 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 07:26:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4685 +[05/27 07:26:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4685: 0/1 successful episodes +[05/27 07:26:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4696 (index 49/114) +[05/27 07:26:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4696 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:26:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place garden truck next to blue bottle +[2026-05-27 07:27:34,960] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:28:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:33:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4696 episode 0 object objacucumber_2f0743a1d27345269d1444a8becfce59_1_0_2 completed with success=False +[05/27 07:33:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place compact camouflage tactical pouch with buckle next to small shiny gold dog statue +[2026-05-27 07:34:39,505] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:35:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:40:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4696 episode 1 object objatacticalpouch_4d76d1d1fc934a0cbccddd28103b2657_1_0_2 completed with success=False +[05/27 07:40:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4696: 2 episodes +[05/27 07:40:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:40:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:40:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:40:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:40:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4696 +[05/27 07:40:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4696 in 4.39s (batch: 4.23s, save: 0.17s) +[05/27 07:40:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4696 +[05/27 07:40:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4696: 0/2 successful episodes +[05/27 07:40:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4731 (index 50/114) +[05/27 07:40:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4731 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:40:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place yellow candle with white wax top next to black rugged tablet with touchscreen buttons +[2026-05-27 07:42:09,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:42:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:56:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4731 episode 0 object objadecorativecandle_7aaf40cda216463d956737baa002efa7_1_0_4 completed with success=False +[05/27 07:56:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4731: 1 episodes +[05/27 07:56:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:56:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:56:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4731 +[05/27 07:56:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4731 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 07:56:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4731 +[05/27 07:56:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4731: 0/1 successful episodes +[05/27 07:56:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4821 (index 51/114) +[05/27 07:56:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4821 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:56:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 07:56:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_944ac46de4714840942d4a907eef5ef6_1_0_7 in scene +[05/27 07:56:40 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_7 in scene +Goal: place slender smooth beige animal horn next to soapdispenser +[2026-05-27 07:57:46,522] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:58:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:59:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4821 episode 0 object objadecorativehorn_20097ccba5444c968beff4890ecd2402_1_0_8 completed with success=True +[05/27 07:59:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4821: 1 episodes +[05/27 07:59:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 274 timesteps +[05/27 07:59:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:59:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4821 +[05/27 07:59:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4821 in 2.11s (batch: 2.05s, save: 0.06s) +[05/27 07:59:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4821 +[05/27 07:59:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4821: 1/1 successful episodes +[05/27 07:59:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4917 (index 52/114) +[05/27 07:59:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4917 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:59:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place whimsical chicken figure in costume next to small green house plant +[2026-05-27 08:00:34,137] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:15:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4917 episode 0 object objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_9 completed with success=False +[05/27 08:15:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4917: 1 episodes +[05/27 08:15:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:15:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:15:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4917 +[05/27 08:15:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4917 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 08:15:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4917 +[05/27 08:15:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4917: 0/1 successful episodes +[05/27 08:15:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4999 (index 53/114) +[05/27 08:15:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 08:15:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 08:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/27 08:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/27 08:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +Goal: place handbell with wooden handle and brass next to adjustable metal wrench with handle +[2026-05-27 08:16:45,309] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:34:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False +[05/27 08:34:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4999: 1 episodes +[05/27 08:34:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:34:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:34:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4999 +[05/27 08:34:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4999 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 08:34:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4999 +[05/27 08:34:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4999: 0/1 successful episodes +[05/27 08:34:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5103 (index 54/114) +[05/27 08:34:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5103 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 08:34:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place rustic wooden mug with handle next to red envelope with triangular gray flap +[2026-05-27 08:36:03,665] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:50:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5103 episode 0 object objamug_8529afb010814c188970381c3596afef_1_0_8 completed with success=False +[05/27 08:50:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5103: 1 episodes +[05/27 08:50:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:50:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:50:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5103 +[05/27 08:50:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5103 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 08:50:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5103 +[05/27 08:50:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5103: 0/1 successful episodes +[05/27 08:50:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5181 (index 55/114) +[05/27 08:50:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5181 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 08:50:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place red strawberry with green leaves next to yellow white package with curry +[2026-05-27 08:51:23,826] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:51:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:00:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5181 episode 0 object objadecorativefruit_963a56c7201143eba6bbcdf2ad60c1c3_1_0_6 completed with success=False +[05/27 09:00:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5181: 1 episodes +[05/27 09:00:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:00:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:00:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5181 +[05/27 09:00:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5181 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 09:00:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5181 +[05/27 09:00:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5181: 0/1 successful episodes +[05/27 09:00:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5248 (index 56/114) +[05/27 09:00:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5248 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:00:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 09:00:32 Worker 0 WARNING object_manager.py:1238] Could not find object objasteeringwheel_0b77970f7f984ce8ac5c0a03ed1fa1a8_1_0_5 in scene +[05/27 09:00:32 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene +Goal: place classic razor with wooden handle next to glossy green arrowhead shaped leaf +[2026-05-27 09:01:34,677] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:02:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:16:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 5248 episode 0 object objastraightrazor_2d90a466a23f497f819a01e888edcb0a_2_0_8 completed with success=False +[05/27 09:16:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5248: 1 episodes +[05/27 09:16:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:16:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:16:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5248 +[05/27 09:16:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5248 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 09:16:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5248 +[05/27 09:16:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5248: 0/1 successful episodes +[05/27 09:16:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5418 (index 57/114) +[05/27 09:16:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5418 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:16:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place mosaic fragment next to white toilet paper roll +[2026-05-27 09:17:37,030] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:19:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 5418 episode 0 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_2 completed with success=True +[05/27 09:19:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5418: 1 episodes +[05/27 09:19:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 114 timesteps +[05/27 09:19:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:19:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5418 +[05/27 09:19:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5418 in 2.61s (batch: 2.57s, save: 0.04s) +[05/27 09:19:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5418 +[05/27 09:19:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5418: 1/1 successful episodes +[05/27 09:19:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5507 (index 58/114) +[05/27 09:19:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:19:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place gold headphones with red padding next to green smartphone with black touchscreen +[2026-05-27 09:20:40,040] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:23:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5507 episode 0 object objaheadphones_298b981b427947188a1b361bf65a2c98_1_0_2 completed with success=True +[05/27 09:23:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5507: 1 episodes +[05/27 09:23:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 170 timesteps +[05/27 09:23:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:23:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5507 +[05/27 09:23:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5507 in 2.06s (batch: 2.01s, save: 0.05s) +[05/27 09:23:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5507 +[05/27 09:23:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5507: 1/1 successful episodes +[05/27 09:23:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5578 (index 59/114) +[05/27 09:23:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5578 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:23:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place textured red pomegranate next to fresh green lettuce +[2026-05-27 09:24:34,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:33:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5578 episode 0 object objapomegranate_af8ba5fe1b2744c1a70092eb44932a16_1_0_6 completed with success=False +[05/27 09:33:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5578: 1 episodes +[05/27 09:33:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:33:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:33:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5578 +[05/27 09:33:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5578 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 09:33:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5578 +[05/27 09:33:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5578: 0/1 successful episodes +[05/27 09:33:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5632 (index 60/114) +[05/27 09:33:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5632 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:33:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place white saturn v rocket with markings next to orange plaid pillow cushion +[2026-05-27 09:35:05,037] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:35:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:39:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5632 episode 0 object objamodelrocket_782d80395e25463a815a92e883c86c02_1_0_9 completed with success=False +[05/27 09:39:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5632: 1 episodes +[05/27 09:39:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:39:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:39:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5632 +[05/27 09:39:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5632 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 09:39:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5632 +[05/27 09:39:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5632: 0/1 successful episodes +[05/27 09:39:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5708 (index 61/114) +[05/27 09:39:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5708 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:39:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 09:40:07 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_9 in scene +[05/27 09:40:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_9 in scene +Goal: place amber cylindrical prescription pill bottle next to foodstuff +[2026-05-27 09:41:11,603] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:00:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5708 episode 0 object objapillbottle_7339a87dac884f1e8aeed3bf80dc0a5f_1_0_2 completed with success=False +[05/27 10:00:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5708: 1 episodes +[05/27 10:00:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:00:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:00:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5708 +[05/27 10:00:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5708 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 10:00:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5708 +[05/27 10:00:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5708: 0/1 successful episodes +[05/27 10:00:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5836 (index 62/114) +[05/27 10:00:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:00:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 10:00:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene +[05/27 10:00:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene +Goal: place dark metal hinge with pivot next to dark muscular statue standing dynamically +[2026-05-27 10:02:02,332] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:02:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:13:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 5836 episode 0 object objahinge_d443380245cb4898bc96b341d37bcd43_1_0_7 completed with success=False +[05/27 10:13:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5836: 1 episodes +[05/27 10:13:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:13:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:13:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5836 +[05/27 10:13:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5836 in 2.26s (batch: 2.16s, save: 0.09s) +[05/27 10:13:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5836 +[05/27 10:13:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5836: 0/1 successful episodes +[05/27 10:13:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5907 (index 63/114) +[05/27 10:13:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:13:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 10:13:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place serene stone statue with patterned robe next to silver bullet with red band tip +[2026-05-27 10:14:43,876] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:15:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:30:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5907 episode 0 object objastatue_a8e9e70f3ca14aa7a21b3e9ac2eacbd9_1_0_4 completed with success=False +[05/27 10:30:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5907: 1 episodes +[05/27 10:30:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:31:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:31:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5907 +[05/27 10:31:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5907 in 2.26s (batch: 2.14s, save: 0.12s) +[05/27 10:31:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5907 +[05/27 10:31:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5907: 0/1 successful episodes +[05/27 10:31:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5980 (index 64/114) +[05/27 10:31:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:31:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 10:31:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +Goal: place hand axe next to slim pink cellphone with buttons +[2026-05-27 10:32:27,068] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:33:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:47:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5980 episode 0 object objahandaxe_b0b87362f235438dbd703daa13551696_1_0_2 completed with success=False +[05/27 10:47:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5980: 1 episodes +[05/27 10:47:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:47:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:47:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5980 +[05/27 10:47:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5980 in 2.98s (batch: 2.89s, save: 0.09s) +[05/27 10:47:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5980 +[05/27 10:47:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5980: 0/1 successful episodes +[05/27 10:47:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6083 (index 65/114) +[05/27 10:47:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6083 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:47:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place gray stone next to detailed red and white race car +[2026-05-27 10:48:49,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:49:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:00:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 6083 episode 0 object objastoneartifact_fc6cadc870a841cc8edb35bc21f9a004_1_0_7 completed with success=False +[05/27 11:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6083: 1 episodes +[05/27 11:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:00:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:00:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6083 +[05/27 11:00:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6083 in 2.93s (batch: 2.83s, save: 0.09s) +[05/27 11:00:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6083 +[05/27 11:00:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6083: 0/1 successful episodes +[05/27 11:00:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6153 (index 66/114) +[05/27 11:00:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:00:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place soapdispenser next to spray +[2026-05-27 11:01:41,743] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:02:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:07:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 6153 episode 0 object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_2 completed with success=False +[05/27 11:07:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6153: 1 episodes +[05/27 11:07:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:07:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6153 +[05/27 11:07:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6153 in 2.99s (batch: 2.90s, save: 0.09s) +[05/27 11:07:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6153 +[05/27 11:07:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6153: 0/1 successful episodes +[05/27 11:07:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6240 (index 67/114) +[05/27 11:07:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:07:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 11:08:14 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_3 in scene +[05/27 11:08:14 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_3 in scene +Goal: place rusty spray paint can with blue next to blue bomb with white skull emblem +[2026-05-27 11:09:17,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:22:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 6240 episode 0 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_6 completed with success=False +[05/27 11:22:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6240: 1 episodes +[05/27 11:22:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:22:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:22:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6240 +[05/27 11:22:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6240 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 11:22:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6240 +[05/27 11:22:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6240: 0/1 successful episodes +[05/27 11:22:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6287 (index 68/114) +[05/27 11:22:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6287 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:22:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 11:22:29 Worker 0 WARNING object_manager.py:1238] Could not find object objabenchvise_2db685641caa42d9bc57d38edeff0264_1_0_7 in scene +[05/27 11:22:29 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_7 in scene +Goal: place black hat yellow plume next to green lenses on night vision goggles +[2026-05-27 11:23:32,218] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:24:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:34:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 6287 episode 0 object objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_7 completed with success=False +[05/27 11:34:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6287: 1 episodes +[05/27 11:34:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:34:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:34:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6287 +[05/27 11:34:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6287 in 2.83s (batch: 2.72s, save: 0.10s) +[05/27 11:34:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6287 +[05/27 11:34:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6287: 0/1 successful episodes +[05/27 11:34:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6348 (index 69/114) +[05/27 11:34:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:34:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 11:34:48 Worker 0 WARNING object_manager.py:1238] Could not find object objatoy_7cdbd80a08da45d2af76ae9f0f00f280_1_0_4 in scene +[05/27 11:34:48 Worker 0 WARNING object_manager.py:1238] Could not find object objamoth_c776c4a1d0a447388a8808dab3817af9_1_0_4 in scene +Goal: place brown moth next to rectangular dark teal box +[2026-05-27 11:35:50,164] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:50:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6348 episode 0 object objamoth_c4c8eb2f231447009230db56835f76a7_1_0_4 completed with success=False +[05/27 11:50:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6348: 1 episodes +[05/27 11:50:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:50:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:50:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6348 +[05/27 11:50:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6348 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 11:50:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6348 +[05/27 11:50:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6348: 0/1 successful episodes +[05/27 11:50:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6403 (index 70/114) +[05/27 11:50:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:50:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place vintage red wall-mounted rotary telephone next to light blue labeled cleaning bottle +[2026-05-27 11:51:29,167] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:00:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 6403 episode 0 object objarotarytelephone_0beb78c11c0f4537a27c53f8e46ddb86_1_0_2 completed with success=False +[05/27 12:00:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6403: 1 episodes +[05/27 12:00:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:00:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:00:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6403 +[05/27 12:00:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6403 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 12:00:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6403 +[05/27 12:00:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6403: 0/1 successful episodes +[05/27 12:00:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6515 (index 71/114) +[05/27 12:00:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:00:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 12:00:39 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_2 in scene +Goal: place red torii gate with black next to tall black top hat +[2026-05-27 12:01:44,703] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:02:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:04:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 6515 episode 0 object objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_5 completed with success=True +[05/27 12:04:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6515: 1 episodes +[05/27 12:04:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 86 timesteps +[05/27 12:04:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:04:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6515 +[05/27 12:04:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6515 in 2.58s (batch: 2.55s, save: 0.03s) +[05/27 12:04:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6515 +[05/27 12:04:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6515: 1/1 successful episodes +[05/27 12:04:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6616 (index 72/114) +[05/27 12:04:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6616 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:04:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 12:05:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaphonecase_99fa689a1f66458ba5025088aebd974e_1_0_8 in scene +[05/27 12:05:00 Worker 0 WARNING object_manager.py:1238] Could not find object cup_10bb4374affb6510642adcfd03f48701_1_0_8 in scene +Goal: place round metallic lid with handle next to small red potato with texture +[2026-05-27 12:06:03,123] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:06:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:19:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 6616 episode 0 object objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8 completed with success=False +[05/27 12:19:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6616: 1 episodes +[05/27 12:19:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:19:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:19:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6616 +[05/27 12:19:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6616 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 12:19:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6616 +[05/27 12:19:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6616: 0/1 successful episodes +[05/27 12:19:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6733 (index 73/114) +[05/27 12:19:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6733 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:19:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place wooden pestle with jagged top next to white ceramic vase with ridges +[2026-05-27 12:21:06,393] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:21:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:35:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6733 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_8 completed with success=False +[05/27 12:35:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6733: 1 episodes +[05/27 12:35:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:35:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:35:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6733 +[05/27 12:35:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6733 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 12:35:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6733 +[05/27 12:35:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6733: 0/1 successful episodes +[05/27 12:35:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6787 (index 74/114) +[05/27 12:35:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6787 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:35:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place glossy dark angular architectural cornice next to plesiosaurus +[2026-05-27 12:37:18,916] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:50:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 6787 episode 0 object objaarchitecturalmolding_f13cbb13a3ac48f4bd7e1dd9187a55d6_1_0_8 completed with success=False +[05/27 12:50:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place black vr headset with antennas next to shiny metallic key with notches +[2026-05-27 12:51:33,133] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:52:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:04:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 6787 episode 1 object objavirtualrealityheadset_3cd83343e5c6450db20895a88fbd4de2_1_0_4 completed with success=False +[05/27 13:04:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6787: 2 episodes +[05/27 13:04:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:04:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:04:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:04:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:04:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787 +[05/27 13:04:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6787 in 5.69s (batch: 5.52s, save: 0.17s) +[05/27 13:04:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6787 +[05/27 13:04:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6787: 0/2 successful episodes +[05/27 13:04:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6819 (index 75/114) +[05/27 13:04:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:04:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place robust metal door lock mechanism next to bulbous shiny gold vase +[2026-05-27 13:05:41,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:06:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:14:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 6819 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_7 completed with success=False +[05/27 13:14:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6819: 1 episodes +[05/27 13:14:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:14:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:14:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6819 +[05/27 13:14:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6819 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 13:14:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6819 +[05/27 13:14:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6819: 0/1 successful episodes +[05/27 13:14:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6930 (index 76/114) +[05/27 13:14:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6930 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:14:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 13:15:20 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_fdf53823d30f4fed9a5423d6b6cbfad1_1_0_5 in scene +Goal: place nightvisiongoggles next to glossy blue vase +[2026-05-27 13:16:23,472] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:16:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:31:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6930 episode 0 object objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_4 completed with success=False +[05/27 13:31:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6930: 1 episodes +[05/27 13:31:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:31:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:31:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6930 +[05/27 13:31:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6930 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 13:31:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6930 +[05/27 13:31:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6930: 0/1 successful episodes +[05/27 13:31:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6991 (index 77/114) +[05/27 13:31:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:31:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place gray stone arrowhead with pink next to white rabbit pink eyes +[2026-05-27 13:32:59,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:33:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:41:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 6991 episode 0 object objaarrowhead_a3ba93523eed41f69c1e55e55ebb7789_1_0_3 completed with success=False +[05/27 13:41:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6991: 1 episodes +[05/27 13:41:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:41:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:41:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6991 +[05/27 13:41:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6991 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 13:41:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6991 +[05/27 13:41:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6991: 0/1 successful episodes +[05/27 13:41:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7043 (index 78/114) +[05/27 13:41:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7043 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:41:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place eye model next to medium red apple +[2026-05-27 13:42:31,943] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:43:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:54:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 7043 episode 0 object objaeyemodel_bba987e54f5d4724b9ffb799c8d98895_1_0_6 completed with success=False +[05/27 13:54:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7043: 1 episodes +[05/27 13:54:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:54:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:54:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7043 +[05/27 13:54:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7043 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 13:54:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7043 +[05/27 13:54:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7043: 0/1 successful episodes +[05/27 13:54:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7126 (index 79/114) +[05/27 13:54:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7126 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:54:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 13:55:18 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene +[05/27 13:55:18 Worker 0 WARNING object_manager.py:1238] Could not find object fabric_fd3d318bb4ba7328dec20b40c6504241_1_0_5 in scene +[05/27 13:55:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_c6c66c606c2f44d1b6c263426c1953ff_1_0_7 in scene +Goal: place yellow truck with gray container trailer next to neuron model +[2026-05-27 13:56:24,559] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:10:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 7126 episode 0 object objatoytruck_2819f02722574b59b5efc5c3e62f3b2c_1_0_9 completed with success=False +[05/27 14:10:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7126: 1 episodes +[05/27 14:10:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:10:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:10:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7126 +[05/27 14:10:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7126 in 3.00s (batch: 2.90s, save: 0.09s) +[05/27 14:10:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7126 +[05/27 14:10:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7126: 0/1 successful episodes +[05/27 14:10:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7192 (index 80/114) +[05/27 14:10:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:10:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place blue birthday card with fox and rabbit next to furniture +[2026-05-27 14:11:59,877] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:12:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:17:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 7192 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2 completed with success=False +[05/27 14:17:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7192: 1 episodes +[05/27 14:17:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:17:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:17:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7192 +[05/27 14:17:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7192 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 14:17:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7192 +[05/27 14:17:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7192: 0/1 successful episodes +[05/27 14:17:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7319 (index 81/114) +[05/27 14:17:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:17:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place yellow black wasp next to dark vintage folding camera +[2026-05-27 14:18:52,035] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:19:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:31:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 7319 episode 0 object objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_8 completed with success=False +[05/27 14:31:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7319: 1 episodes +[05/27 14:31:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:31:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:31:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7319 +[05/27 14:31:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7319 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 14:31:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7319 +[05/27 14:31:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7319: 0/1 successful episodes +[05/27 14:31:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7356 (index 82/114) +[05/27 14:31:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7356 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:31:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place circular stone disc with hole next to irregular brown rock with colorful minerals +[2026-05-27 14:33:02,220] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:33:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:42:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 7356 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_2_0_7 completed with success=False +[05/27 14:42:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7356: 1 episodes +[05/27 14:42:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:43:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:43:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7356 +[05/27 14:43:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7356 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 14:43:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7356 +[05/27 14:43:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7356: 0/1 successful episodes +[05/27 14:43:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7434 (index 83/114) +[05/27 14:43:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7434 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:43:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place red scissors with metallic blades next to light brown soil with skeleton exposed +[2026-05-27 14:44:09,652] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:56:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7434 episode 0 object objascissors_b0fdda96fcb94002b8be3077f5b95299_1_0_9 completed with success=False +[05/27 14:57:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7434: 1 episodes +[05/27 14:57:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:57:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:57:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7434 +[05/27 14:57:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7434 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 14:57:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7434 +[05/27 14:57:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7434: 0/1 successful episodes +[05/27 14:57:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7480 (index 84/114) +[05/27 14:57:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:57:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 14:57:27 Worker 0 WARNING object_manager.py:1238] Could not find object objainstantnoodlecup_293aeb3e7ac04edfa702ee174181f678_2_0_6 in scene +[05/27 14:57:27 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_223ec3bbee2c0187562d066582ec9143_1_0_6 in scene +Goal: place green manual can opener next to teal spiral wand +[2026-05-27 14:58:29,004] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:59:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 7480 episode 0 object objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6 completed with success=False +[05/27 15:00:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7480: 1 episodes +[05/27 15:00:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:00:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:00:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7480 +[05/27 15:00:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7480 in 2.22s (batch: 2.13s, save: 0.09s) +[05/27 15:00:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7480 +[05/27 15:00:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7480: 0/1 successful episodes +[05/27 15:00:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7613 (index 85/114) +[05/27 15:00:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:00:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place multicolored thick glasses next to glossy wooden tapered cup +[2026-05-27 15:01:53,885] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:02:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:11:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7613 episode 0 object objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_6 completed with success=False +[05/27 15:11:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7613: 1 episodes +[05/27 15:11:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:11:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:11:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7613 +[05/27 15:11:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7613 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 15:11:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7613 +[05/27 15:11:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7613: 0/1 successful episodes +[05/27 15:11:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7705 (index 86/114) +[05/27 15:11:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7705 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:11:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place orange delivery van with windows next to slim blue phone device +[2026-05-27 15:13:10,506] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:13:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 7705 episode 0 object objatoyvehicle_8132c0db249843ba932920251b0e3770_1_0_9 completed with success=False +[05/27 15:25:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7705: 1 episodes +[05/27 15:25:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7705 +[05/27 15:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7705 in 2.23s (batch: 2.14s, save: 0.09s) +[05/27 15:25:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7705 +[05/27 15:25:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7705: 0/1 successful episodes +[05/27 15:25:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7790 (index 87/114) +[05/27 15:25:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7790 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:25:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place eggs next to tall copper cup with ridges +[2026-05-27 15:26:29,401] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:36:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7790 episode 0 object egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6 completed with success=False +[05/27 15:36:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7790: 1 episodes +[05/27 15:36:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:36:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:36:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7790 +[05/27 15:36:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7790 in 2.88s (batch: 2.73s, save: 0.15s) +[05/27 15:36:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7790 +[05/27 15:36:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7790: 0/1 successful episodes +[05/27 15:36:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7871 (index 88/114) +[05/27 15:36:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:36:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place round brown ceramic dish with fish next to tall clear cup +[2026-05-27 15:37:58,115] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:38:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:47:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7871 episode 0 object objaceramicdish_188a46ce27e04b76abc01ba942ccb69d_1_0_6 completed with success=False +[05/27 15:48:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7871: 1 episodes +[05/27 15:48:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:48:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:48:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7871 +[05/27 15:48:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7871 in 2.93s (batch: 2.84s, save: 0.09s) +[05/27 15:48:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7871 +[05/27 15:48:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7871: 0/1 successful episodes +[05/27 15:48:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7985 (index 89/114) +[05/27 15:48:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:48:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[05/27 15:48:12 Worker 0 WARNING object_manager.py:1238] Could not find object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_4 in scene +Goal: place silver sword with yellow hilt and gem next to cutlery +[2026-05-27 15:49:15,303] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:49:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:58:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 7985 episode 0 object objatoysword_a9890b83a9dc4b9799ab8799f00325cc_1_0_6 completed with success=False +[05/27 15:58:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7985: 1 episodes +[05/27 15:58:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:58:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:58:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7985 +[05/27 15:58:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7985 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 15:58:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7985 +[05/27 15:58:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7985: 0/1 successful episodes +[05/27 15:58:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8087 (index 90/114) +[05/27 15:58:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:58:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place iced snowman gingerbread cookie next to small shiny gold dog statue +[2026-05-27 16:00:10,704] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:10:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 8087 episode 0 object objacookie_1929e4a4db3d4a619b7aec1bc1268c83_1_0_6 completed with success=False +[05/27 16:10:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8087: 1 episodes +[05/27 16:10:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:10:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:10:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8087 +[05/27 16:10:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8087 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 16:10:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8087 +[05/27 16:10:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8087: 0/1 successful episodes +[05/27 16:10:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8177 (index 91/114) +[05/27 16:10:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 16:10:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place polished smooth golden circular ring next to brown wooden gavel +[2026-05-27 16:11:49,188] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:12:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:28:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 8177 episode 0 object objaring_c20681970f3f4e449aeec50291be17b1_1_0_3 completed with success=False +[05/27 16:28:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8177: 1 episodes +[05/27 16:28:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:28:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:28:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8177 +[05/27 16:28:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8177 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 16:28:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8177 +[05/27 16:28:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8177: 0/1 successful episodes +[05/27 16:28:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8235 (index 92/114) +[05/27 16:28:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8235 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 16:28:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 16:29:21 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_5 in scene +[05/27 16:29:21 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_7 in scene +[05/27 16:29:21 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_7 in scene +Goal: place gold opera glasses next to brown fedora hat with blue band +[2026-05-27 16:30:23,127] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:30:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:45:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 8235 episode 0 object objaoperaglasses_a6bf64a282b247cb9784f862e5da27e1_1_0_8 completed with success=False +[05/27 16:45:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8235: 1 episodes +[05/27 16:45:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:45:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:45:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8235 +[05/27 16:45:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8235 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 16:45:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8235 +[05/27 16:45:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8235: 0/1 successful episodes +[05/27 16:45:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8314 (index 93/114) +[05/27 16:45:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 16:45:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place white connector with multiple yellow wires next to smooth translucent white bowl +[2026-05-27 16:46:55,790] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:47:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:59:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 8314 episode 0 object objaelectricalconnector_e55fbf1db52c4c99b680d800424b851b_1_0_4 completed with success=False +[05/27 17:00:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8314: 1 episodes +[05/27 17:00:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:00:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:00:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8314 +[05/27 17:00:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8314 in 3.00s (batch: 2.92s, save: 0.09s) +[05/27 17:00:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8314 +[05/27 17:00:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8314: 0/1 successful episodes +[05/27 17:00:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8392 (index 94/114) +[05/27 17:00:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8392 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:00:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place cleaning sponge next to white tape dispenser +[2026-05-27 17:01:16,605] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:01:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:06:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 8392 episode 0 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_2 completed with success=False +[05/27 17:06:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8392: 1 episodes +[05/27 17:06:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:06:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:06:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8392 +[05/27 17:06:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8392 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 17:06:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8392 +[05/27 17:06:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8392: 0/1 successful episodes +[05/27 17:06:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8478 (index 95/114) +[05/27 17:06:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:06:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 17:07:18 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_3 in scene +Goal: place toy sword next to book +[2026-05-27 17:08:21,919] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:08:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:21:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 8478 episode 0 object objatoysword_3cab1a6d7fd045c6983b41b821b6cc26_1_0_6 completed with success=False +[05/27 17:21:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8478: 1 episodes +[05/27 17:21:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:21:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:21:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8478 +[05/27 17:21:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8478 in 2.87s (batch: 2.77s, save: 0.09s) +[05/27 17:21:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8478 +[05/27 17:21:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8478: 0/1 successful episodes +[05/27 17:21:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8546 (index 96/114) +[05/27 17:21:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8546 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:21:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place soft flat round bread with spots next to blue rectangular frying pan +[2026-05-27 17:22:53,117] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:23:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:28:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 8546 episode 0 object objaflatbread_7aecee021b9f464bbc5ac80d7d8308a4_1_0_2 completed with success=False +[05/27 17:28:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8546: 1 episodes +[05/27 17:28:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:28:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:28:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8546 +[05/27 17:28:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8546 in 2.23s (batch: 2.14s, save: 0.09s) +[05/27 17:28:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8546 +[05/27 17:28:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8546: 0/1 successful episodes +[05/27 17:28:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8662 (index 97/114) +[05/27 17:28:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:28:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 17:28:40 Worker 0 WARNING object_manager.py:1238] Could not find object objamolecularmodel_270f91fbee564b88acb06a3558fd6958_1_0_2 in scene +Goal: place lightweight camouflage glider next to dark plaque +[2026-05-27 17:29:43,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:42:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 8662 episode 0 object objatoyplane_c210b610454f48488605759aa419c7af_1_0_6 completed with success=False +[05/27 17:42:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8662: 1 episodes +[05/27 17:42:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:42:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:42:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8662 +[05/27 17:42:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8662 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 17:42:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8662 +[05/27 17:42:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8662: 0/1 successful episodes +[05/27 17:42:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8727 (index 98/114) +[05/27 17:42:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:42:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place gray video camera with handle next to stylized gray bird with orange beak +[2026-05-27 17:43:51,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:51:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 8727 episode 0 object objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_2 completed with success=False +[05/27 17:51:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8727: 1 episodes +[05/27 17:51:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:51:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:51:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8727 +[05/27 17:51:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8727 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 17:51:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8727 +[05/27 17:51:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8727: 0/1 successful episodes +[05/27 17:51:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8848 (index 99/114) +[05/27 17:51:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8848 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:51:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place white porcelain candlestick with cherubs next to light brown rectangular cardboard box +[2026-05-27 17:52:59,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:53:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:11:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 8848 episode 0 object objacandlestick_576b8819466a4775815379687602a788_1_0_7 completed with success=False +[05/27 18:11:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8848: 1 episodes +[05/27 18:11:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:11:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:11:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8848 +[05/27 18:11:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8848 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 18:11:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8848 +[05/27 18:11:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8848: 0/1 successful episodes +[05/27 18:11:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8896 (index 100/114) +[05/27 18:11:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:11:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 18:11:27 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasystaff_c2afbeb459e34f818f962e16914f116b_1_0_7 in scene +[05/27 18:11:27 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_7 in scene +Goal: place vintage mobile phone next to smooth yellow apple with stem +[2026-05-27 18:12:31,465] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:13:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:23:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 8896 episode 0 object objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_6 completed with success=False +[05/27 18:23:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8896: 1 episodes +[05/27 18:23:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:23:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:23:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8896 +[05/27 18:23:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8896 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 18:23:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8896 +[05/27 18:23:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8896: 0/1 successful episodes +[05/27 18:23:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8981 (index 101/114) +[05/27 18:23:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:23:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place black curved remote control with buttons next to orange plaid pillow +[2026-05-27 18:24:28,710] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:25:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:41:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 8981 episode 0 object objaremotecontrol_cf2b3e74a7b547e2a75dba0187584190_1_0_3 completed with success=False +[05/27 18:42:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8981: 1 episodes +[05/27 18:42:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:42:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:42:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8981 +[05/27 18:42:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8981 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 18:42:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8981 +[05/27 18:42:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8981: 0/1 successful episodes +[05/27 18:42:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9033 (index 102/114) +[05/27 18:42:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9033 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:42:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place sharpener next to veg +[2026-05-27 18:43:18,671] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:43:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:51:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 9033 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_6 completed with success=False +[05/27 18:51:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9033: 1 episodes +[05/27 18:51:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:51:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:51:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9033 +[05/27 18:51:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9033 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 18:51:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9033 +[05/27 18:51:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9033: 0/1 successful episodes +[05/27 18:51:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9094 (index 103/114) +[05/27 18:51:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9094 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:51:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 18:52:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7 in scene +[05/27 18:52:08 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene +Goal: place paintbrush with wooden handle next to blue hardcover book +[2026-05-27 18:53:16,885] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:53:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:07:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 9094 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_4 completed with success=False +[05/27 19:07:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9094: 1 episodes +[05/27 19:07:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:07:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:07:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9094 +[05/27 19:07:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9094 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 19:07:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9094 +[05/27 19:07:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9094: 0/1 successful episodes +[05/27 19:07:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9169 (index 104/114) +[05/27 19:07:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:07:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 19:08:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadpiece_59e157a7e97c4be8889f7af0ce06eed2_1_0_4 in scene +[05/27 19:08:07 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_c594624adbb2b4b72f24e12b1047e7af_1_0_4 in scene +Goal: place red pagoda pop-up card next to brown cardboard box +[2026-05-27 19:09:10,335] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:09:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:20:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9169 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7 completed with success=False +[05/27 19:20:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9169: 1 episodes +[05/27 19:20:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:20:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:20:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9169 +[05/27 19:20:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9169 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 19:20:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9169 +[05/27 19:20:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9169: 0/1 successful episodes +[05/27 19:20:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9259 (index 105/114) +[05/27 19:20:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9259 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:20:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place sculpture next to yellow handled knife +[2026-05-27 19:21:44,978] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:22:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:23:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 9259 episode 0 object objadecorativecarving_5aa3736a4568498ea1cd62c0a0aeac5a_1_0_2 completed with success=False +[05/27 19:23:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9259: 1 episodes +[05/27 19:23:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:24:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9259 +[05/27 19:24:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9259 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 19:24:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9259 +[05/27 19:24:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9259: 0/1 successful episodes +[05/27 19:24:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9327 (index 106/114) +[05/27 19:24:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:24:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place green packet next to golden brown loaf of bread +[2026-05-27 19:25:25,221] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:26:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:38:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 9327 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8 completed with success=False +[05/27 19:38:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9327: 1 episodes +[05/27 19:38:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:38:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:38:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9327 +[05/27 19:38:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9327 in 2.98s (batch: 2.89s, save: 0.09s) +[05/27 19:38:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9327 +[05/27 19:38:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9327: 0/1 successful episodes +[05/27 19:38:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9431 (index 107/114) +[05/27 19:38:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:38:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place small brown paper bag next to shallow round metallic cooking pan with handles +[2026-05-27 19:40:19,799] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:48:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 9431 episode 0 object objapaperbag_9ccf2fce68ea45e0b0861038d5aa035d_1_0_6 completed with success=False +[05/27 19:48:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9431: 1 episodes +[05/27 19:48:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:48:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:48:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9431 +[05/27 19:48:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9431 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 19:48:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9431 +[05/27 19:48:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9431: 0/1 successful episodes +[05/27 19:48:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9511 (index 108/114) +[05/27 19:48:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:48:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place white rectangular component with wires next to tall white candle on dark holder +[2026-05-27 19:49:52,737] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:00:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 9511 episode 0 object objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_2_0_7 completed with success=False +[05/27 20:00:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9511: 1 episodes +[05/27 20:00:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:00:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:00:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9511 +[05/27 20:00:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9511 in 2.93s (batch: 2.84s, save: 0.09s) +[05/27 20:00:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9511 +[05/27 20:00:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9511: 0/1 successful episodes +[05/27 20:00:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9591 (index 109/114) +[05/27 20:00:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:00:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place vintage wooden hand plane with blade next to cream hardcover unix programming book +[2026-05-27 20:01:27,720] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:02:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:08:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9591 episode 0 object objahandplane_14a7c067deec4920bf94b61f67126f31_1_0_2 completed with success=False +[05/27 20:08:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9591: 1 episodes +[05/27 20:08:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:08:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:08:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9591 +[05/27 20:08:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9591 in 2.18s (batch: 2.09s, save: 0.09s) +[05/27 20:08:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9591 +[05/27 20:08:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9591: 0/1 successful episodes +[05/27 20:08:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9660 (index 110/114) +[05/27 20:08:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9660 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:08:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place headphone next to sandglass +[2026-05-27 20:09:45,308] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:10:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:17:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 9660 episode 0 object objaheadset_b2c1fc509240456894c803a7d77dd549_1_0_3 completed with success=False +[05/27 20:17:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9660: 1 episodes +[05/27 20:17:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:17:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:17:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9660 +[05/27 20:17:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9660 in 2.39s (batch: 2.29s, save: 0.09s) +[05/27 20:17:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9660 +[05/27 20:17:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9660: 0/1 successful episodes +[05/27 20:17:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9742 (index 111/114) +[05/27 20:17:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:17:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place rubber mallet with handle next to red tomato +[2026-05-27 20:19:14,773] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:19:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:26:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9742 episode 0 object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2 completed with success=False +[05/27 20:26:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9742: 1 episodes +[05/27 20:26:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:26:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:26:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9742 +[05/27 20:26:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9742 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 20:26:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9742 +[05/27 20:26:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9742: 0/1 successful episodes +[05/27 20:26:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9850 (index 112/114) +[05/27 20:26:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9850 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:26:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 20:26:51 Worker 0 WARNING object_manager.py:1238] Could not find object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 in scene +[05/27 20:26:51 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_d9d42e7cce766240326bcd4fc80dc6a7_1_0_2 in scene +Goal: place glossy black remote control next to toytower +[2026-05-27 20:27:55,105] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:28:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:35:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 9850 episode 0 object objaremotecontrol_bd51773c52e54812a88c38c14935ae98_1_0_3 completed with success=False +[05/27 20:35:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 20:35:21 Worker 0 WARNING object_manager.py:1238] Could not find object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 in scene +[05/27 20:35:21 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_d9d42e7cce766240326bcd4fc80dc6a7_1_0_2 in scene +Goal: place whimsical pink roofed tower next to sleek glossy black remote control +[2026-05-27 20:36:26,855] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:37:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:43:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 9850 episode 1 object objatoytower_9c57f4e2d52845058a6a93f44cc999d9_1_0_3 completed with success=False +[05/27 20:43:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9850: 2 episodes +[05/27 20:43:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:43:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:43:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:43:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:43:53 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850 +[05/27 20:43:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9850 in 5.74s (batch: 5.57s, save: 0.17s) +[05/27 20:43:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9850 +[05/27 20:43:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9850: 0/2 successful episodes +[05/27 20:43:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9899 (index 113/114) +[05/27 20:43:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9899 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:43:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place vase next to cream hardcover unix programming book +[2026-05-27 20:45:08,359] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:52:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9899 episode 0 object vase_485850bef5e28630dd1156aaec2e3528_1_0_2 completed with success=False +[05/27 20:52:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9899: 1 episodes +[05/27 20:52:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:52:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:52:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9899 +[05/27 20:52:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9899 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 20:52:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9899 +[05/27 20:52:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9899: 0/1 successful episodes +[05/27 20:52:48 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 20:52:48 INFO pipeline.py:1496] Completed 114 houses, skipped 0 houses +[05/27 20:52:48 INFO pipeline.py:1499] Success count: 5, Total count: 118 +[05/27 20:52:48 INFO pipeline.py:1500] Success rate: 4.24% +Combined 118 episodes from 114 files → /tmp/tmp_fo65oy7.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv at-end: 4.24% | oracle: 4.24% of 118 episodes +[2026-05-27 20:53:02,004] INFO MolmoSpaces simulator eval finished: success=5/118 rate=0.0424 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval +[2026-05-27 20:53:02,004] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..8693305fdc3f3ae6e980417f11a0fe7dc0417033 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/run.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/run.log new file mode 100644 index 0000000000000000000000000000000000000000..32263241abf20ddfa6a2505f574fe1f242728c79 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/run.log @@ -0,0 +1,3738 @@ +[2026-05-26 19:43:51,156] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,157] INFO Using MuJoCo EGL device id: 2 +[2026-05-26 19:43:51,158] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,188] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 (source=arg) +[2026-05-26 19:43:53,243] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:02,865] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,280] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,280] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,759] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,189] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [547, + 595, + 635, + 717, + 748, + 818, + 896, + 999, + 1097, + 1191, + 1276, + 1350, + 1416, + 1555, + 1678, + 1744, + 1816, + 1928, + 2030, + 2098, + 2207, + 2338, + 2442, + 2491, + 2607, + 2735, + 2842, + 2914, + 3041, + 3142, + 3233, + 3282, + 3364, + 3412, + 3502, + 3585, + 3688, + 3755, + 3884, + 3925, + 4018, + 4108, + 4192, + 4263, + 4303, + 4348, + 4444, + 4541, + 4649, + 4690, + 4764, + 4781, + 4858, + 4924, + 5000, + 5108, + 5185, + 5278, + 5437, + 5508, + 5592, + 5644, + 5718, + 5863, + 5908, + 5985, + 6093, + 6155, + 6241, + 6289, + 6350, + 6421, + 6523, + 6624, + 6739, + 6826, + 6933, + 6994, + 7057, + 7134, + 7140, + 7220, + 7323, + 7362, + 7437, + 7501, + 7619, + 7730, + 7822, + 7874, + 7994, + 8095, + 8178, + 8237, + 8321, + 8394, + 8480, + 8560, + 8678, + 8748, + 8853, + 8905, + 8988, + 9044, + 9102, + 9171, + 9277, + 9337, + 9463, + 9514, + 9599, + 9661, + 9759, + 9913, + 9955], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,194] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 547 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 547 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place red rectangular box of pasta next to dark rustic cylindrical loaf with skewer +2026-05-26 19:48:33.477 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:34,360] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:35,056] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:35,550] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:35,745] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:35,748] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:56:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 547 episode 0 object objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_6 completed with success=False +[05/26 19:56:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_547: 1 episodes +[05/26 19:56:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:56:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:56:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_547 +[05/26 19:56:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_547 in 2.24s (batch: 2.15s, save: 0.09s) +[05/26 19:56:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_547 +[05/26 19:56:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 547: 0/1 successful episodes +[05/26 19:56:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 595 (index 1/115) +[05/26 19:56:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 595 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 19:56:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 19:56:38 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_5 in scene +Goal: place adhesive tape next to intricately carved stone pyramid +[2026-05-26 19:57:42,592] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 19:58:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:13:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 595 episode 0 object objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8 completed with success=False +[05/26 20:13:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_595: 1 episodes +[05/26 20:13:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:13:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:13:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_595 +[05/26 20:13:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_595 in 2.29s (batch: 2.20s, save: 0.09s) +[05/26 20:13:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_595 +[05/26 20:13:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 595: 0/1 successful episodes +[05/26 20:13:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 635 (index 2/115) +[05/26 20:13:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:13:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 20:13:55 Worker 0 WARNING object_manager.py:1238] Could not find object tennisracket_8ce350e1a9c0b48dc32aed39a3adf033_1_0_4 in scene +Goal: place cartoonish observatory with satellite dish next to white candle with flame +[2026-05-26 20:14:57,331] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:28:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 635 episode 0 object objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5 completed with success=False +[05/26 20:28:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_635: 1 episodes +[05/26 20:28:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:28:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:28:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_635 +[05/26 20:28:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_635 in 2.23s (batch: 2.15s, save: 0.09s) +[05/26 20:28:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_635 +[05/26 20:28:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 635: 0/1 successful episodes +[05/26 20:28:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 717 (index 3/115) +[05/26 20:28:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 717 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:28:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 20:28:55 Worker 0 WARNING object_manager.py:1238] Could not find object objasurgicalmask_14c823dca9034aa5bcf6628c4995f63a_1_0_5 in scene +Goal: place hexagonal metal bolt next to carafe +[2026-05-26 20:29:55,830] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:37:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 717 episode 0 object objabolt_04e3f80a4f1c4c888060fa5c5a53a188_1_0_7 completed with success=True +[05/26 20:37:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_717: 1 episodes +[05/26 20:37:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 191 timesteps +[05/26 20:37:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:37:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_717 +[05/26 20:37:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_717 in 2.05s (batch: 2.00s, save: 0.05s) +[05/26 20:37:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_717 +[05/26 20:37:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 717: 1/1 successful episodes +[05/26 20:37:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 748 (index 4/115) +[05/26 20:37:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:37:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place round terracotta clay serving dish next to shiny smooth red apple +[2026-05-26 20:38:22,965] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:38:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:47:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 748 episode 0 object objaclaydish_976f5b6e9a1344628642051f680b176b_1_0_6 completed with success=False +[05/26 20:47:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_748: 1 episodes +[05/26 20:47:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:47:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:47:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_748 +[05/26 20:47:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_748 in 2.95s (batch: 2.86s, save: 0.09s) +[05/26 20:47:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_748 +[05/26 20:47:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 748: 0/1 successful episodes +[05/26 20:47:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 818 (index 5/115) +[05/26 20:47:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 818 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:47:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place silver scissors next to slim gold metallic smartphone with buttons +[2026-05-26 20:49:16,778] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:01:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 818 episode 0 object objascissors_48161a88fb9b4982ad2dbefa137e652d_1_0_8 completed with success=False +[05/26 21:01:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_818: 1 episodes +[05/26 21:01:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_818 +[05/26 21:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_818 in 2.15s (batch: 2.07s, save: 0.08s) +[05/26 21:01:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_818 +[05/26 21:01:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 818: 0/1 successful episodes +[05/26 21:01:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 896 (index 6/115) +[05/26 21:01:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:01:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place brown barrel mug next to white curved wooden molding +[2026-05-26 21:03:24,008] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:13:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 896 episode 0 object objamug_5e639b4c11ce43e0b6124371f88c9b15_1_0_6 completed with success=False +[05/26 21:13:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_896: 1 episodes +[05/26 21:13:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:13:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:13:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_896 +[05/26 21:13:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_896 in 2.30s (batch: 2.21s, save: 0.09s) +[05/26 21:13:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_896 +[05/26 21:13:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 896: 0/1 successful episodes +[05/26 21:13:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 999 (index 7/115) +[05/26 21:13:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:13:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place gray remote with colorful buttons next to purple square pillow +[2026-05-26 21:14:34,444] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:15:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:28:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 999 episode 0 object objaremotecontrol_d838fc2535c64927a817da5a84d83a2a_1_0_6 completed with success=False +[05/26 21:28:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_999: 1 episodes +[05/26 21:28:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:29:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:29:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_999 +[05/26 21:29:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_999 in 2.84s (batch: 2.76s, save: 0.09s) +[05/26 21:29:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_999 +[05/26 21:29:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 999: 0/1 successful episodes +[05/26 21:29:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1097 (index 8/115) +[05/26 21:29:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:29:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 21:29:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +[05/26 21:29:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +Goal: place timer next to white toilet paper roll with embossing +[2026-05-26 21:30:26,119] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:30:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:46:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1097 episode 0 object objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5 completed with success=False +[05/26 21:46:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1097: 1 episodes +[05/26 21:46:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1097 +[05/26 21:46:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1097 in 2.86s (batch: 2.77s, save: 0.09s) +[05/26 21:46:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1097 +[05/26 21:46:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1097: 0/1 successful episodes +[05/26 21:46:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1191 (index 9/115) +[05/26 21:46:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:46:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place brown pixelated torch next to metallic futuristic device with handle +[2026-05-26 21:47:54,057] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:00:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1191 episode 0 object objatorch_e88c4214d4bc4437ae6d249237591071_1_0_9 completed with success=False +[05/26 22:00:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1191: 1 episodes +[05/26 22:00:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:00:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:00:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1191 +[05/26 22:00:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1191 in 2.25s (batch: 2.17s, save: 0.09s) +[05/26 22:00:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1191 +[05/26 22:00:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1191: 0/1 successful episodes +[05/26 22:00:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1276 (index 10/115) +[05/26 22:00:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1276 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:00:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place teal shoe last with size markings next to green piggy bank with clouds +[2026-05-26 22:01:57,907] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:02:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:11:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 1276 episode 0 object objashoelast_ca1b8c8150074daea810166ec5c86b78_1_0_7 completed with success=False +[05/26 22:11:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1276: 1 episodes +[05/26 22:11:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:11:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:11:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1276 +[05/26 22:11:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1276 in 2.18s (batch: 2.09s, save: 0.09s) +[05/26 22:11:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1276 +[05/26 22:11:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1276: 0/1 successful episodes +[05/26 22:11:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1350 (index 11/115) +[05/26 22:11:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:11:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place metallic chopping axe next to children's purple book with horse puppet +[2026-05-26 22:12:57,542] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:13:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:25:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 1350 episode 0 object objahandaxe_5b6cd83c95344bcea335fc2452624abe_1_0_6 completed with success=False +[05/26 22:25:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1350: 1 episodes +[05/26 22:25:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:25:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:25:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1350 +[05/26 22:25:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1350 in 2.24s (batch: 2.15s, save: 0.09s) +[05/26 22:25:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1350 +[05/26 22:25:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1350: 0/1 successful episodes +[05/26 22:25:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1416 (index 12/115) +[05/26 22:25:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:25:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/26 22:25:17 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_c223d0fc3107c8eb43a3c5876f16cbfc_1_0_4 in scene +[05/26 22:25:17 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_db169b2db696f5f3309c1b601969bfb0_1_0_4 in scene +Goal: place blue rectangular gum package with branding next to gold vase +[2026-05-26 22:26:20,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:38:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 1416 episode 0 object objachewinggumpackage_ccce466fa203480c91ffba46d02d6509_1_0_6 completed with success=False +[05/26 22:38:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1416: 1 episodes +[05/26 22:38:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:38:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:38:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1416 +[05/26 22:38:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1416 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 22:38:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1416 +[05/26 22:38:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1416: 0/1 successful episodes +[05/26 22:38:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1555 (index 13/115) +[05/26 22:38:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:38:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 22:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene +[05/26 22:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place black hat plume next to gray bowl +[2026-05-26 22:40:18,919] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:40:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:54:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1555 episode 0 object objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_4 completed with success=False +[05/26 22:54:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1555: 1 episodes +[05/26 22:54:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:54:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1555 +[05/26 22:54:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1555 in 2.93s (batch: 2.84s, save: 0.09s) +[05/26 22:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1555 +[05/26 22:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1555: 0/1 successful episodes +[05/26 22:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1678 (index 14/115) +[05/26 22:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 22:54:33 Worker 0 WARNING object_manager.py:1238] Could not find object objasurgicalmask_14c823dca9034aa5bcf6628c4995f63a_1_0_5 in scene +[05/26 22:54:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene +Goal: place medallion with crown and shields next to dark gray bowl +[2026-05-26 22:55:36,580] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:14:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1678 episode 0 object objamedallion_74573e9beb164375942775cc38047ba7_1_0_4 completed with success=False +[05/26 23:14:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1678: 1 episodes +[05/26 23:14:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:14:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:14:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1678 +[05/26 23:14:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1678 in 3.02s (batch: 2.93s, save: 0.09s) +[05/26 23:14:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1678 +[05/26 23:14:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1678: 0/1 successful episodes +[05/26 23:14:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1744 (index 15/115) +[05/26 23:14:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1744 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:14:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place blue patterned bowl next to metal cup +[2026-05-26 23:16:01,827] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:16:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:28:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 1744 episode 0 object objapouringbowl_bad55ce1183a4965896446aa526c7ac2_1_0_2 completed with success=False +[05/26 23:29:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1744: 1 episodes +[05/26 23:29:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:29:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:29:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1744 +[05/26 23:29:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1744 in 2.90s (batch: 2.81s, save: 0.09s) +[05/26 23:29:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1744 +[05/26 23:29:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1744: 0/1 successful episodes +[05/26 23:29:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1816 (index 16/115) +[05/26 23:29:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1816 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:29:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 23:30:22 Worker 0 WARNING object_manager.py:1238] Could not find object objadigitalitem_c0a4a104714043eab85a69ea03f18472_1_0_7 in scene +Goal: place blue and white modern electric iron next to rustic golden brown bread +[2026-05-26 23:31:24,833] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:33:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 1816 episode 0 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2 completed with success=False +[05/26 23:33:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1816: 1 episodes +[05/26 23:33:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:33:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:33:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1816 +[05/26 23:33:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1816 in 2.86s (batch: 2.77s, save: 0.09s) +[05/26 23:33:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1816 +[05/26 23:33:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1816: 0/1 successful episodes +[05/26 23:33:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1928 (index 17/115) +[05/26 23:33:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:33:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place small pale leaf-shaped textured arrowhead next to blue spaceship +[2026-05-26 23:36:22,198] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:36:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:50:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1928 episode 0 object objaarrowhead_adf24b01def54cb2ba548ada8cc8aa8a_1_0_2 completed with success=False +[05/26 23:50:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1928: 1 episodes +[05/26 23:50:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:50:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:50:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1928 +[05/26 23:50:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1928 in 2.33s (batch: 2.24s, save: 0.09s) +[05/26 23:50:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1928 +[05/26 23:50:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1928: 0/1 successful episodes +[05/26 23:50:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2030 (index 18/115) +[05/26 23:50:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:50:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 23:50:49 Worker 0 WARNING object_manager.py:1238] Could not find object objabrochure_9955a3def32b4f7e8c6efd289df59eb2_1_0_2 in scene +[05/26 23:50:49 Worker 0 WARNING object_manager.py:1238] Could not find object cup_dd0ab95e28fdee3cb4033adcfec9a81b_1_0_2 in scene +Goal: place blue dna helix next to silver bullet with red band tip +[2026-05-26 23:51:52,571] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:52:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:02:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 2030 episode 0 object objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_2 completed with success=False +[05/27 00:02:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2030: 1 episodes +[05/27 00:02:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:02:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:02:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2030 +[05/27 00:02:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2030 in 2.22s (batch: 2.13s, save: 0.09s) +[05/27 00:02:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2030 +[05/27 00:02:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2030: 0/1 successful episodes +[05/27 00:02:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2098 (index 19/115) +[05/27 00:02:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2098 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:02:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 00:02:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_8 in scene +Goal: place red vintage rotary dial payphone next to slim blue cell phone with pattern +[2026-05-27 00:03:44,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:16:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2098 episode 0 object objapayphone_a759edc5f9af4ee0a08391d2c5049c0b_1_0_4 completed with success=False +[05/27 00:16:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2098: 1 episodes +[05/27 00:16:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:17:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:17:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2098 +[05/27 00:17:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2098 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 00:17:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2098 +[05/27 00:17:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2098: 0/1 successful episodes +[05/27 00:17:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2207 (index 20/115) +[05/27 00:17:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2207 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:17:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 00:19:35 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnifyingglass_1f86dd8841864e67a96614fec44f2222_1_0_5 in scene +Goal: place brown leather wallet with woven edges next to colorful red parrot with wings +[2026-05-27 00:20:37,673] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:21:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:31:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 2207 episode 0 object objawallet_45e061790f364b1da9ff876382adca02_1_0_4 completed with success=False +[05/27 00:32:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2207: 1 episodes +[05/27 00:32:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:32:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:32:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2207 +[05/27 00:32:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2207 in 2.95s (batch: 2.86s, save: 0.09s) +[05/27 00:32:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2207 +[05/27 00:32:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2207: 0/1 successful episodes +[05/27 00:32:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2338 (index 21/115) +[05/27 00:32:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2338 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:32:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +Goal: place green emergency exit sign next to slim rectangular phone +[2026-05-27 00:33:34,071] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:50:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 2338 episode 0 object objaemergencyexitsign_0346252dca2640d799b6d5ba5055851c_1_0_2 completed with success=False +[05/27 00:51:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2338: 1 episodes +[05/27 00:51:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:51:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:51:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2338 +[05/27 00:51:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2338 in 2.85s (batch: 2.76s, save: 0.10s) +[05/27 00:51:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2338 +[05/27 00:51:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2338: 0/1 successful episodes +[05/27 00:51:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2442 (index 22/115) +[05/27 00:51:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:51:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place polished round bronze knocker next to rectangular pillow with earthy stripes +[2026-05-27 00:52:11,846] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:06:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 2442 episode 0 object objadoorknocker_6327f620b1044a16b21216caaf6b107a_1_0_6 completed with success=False +[05/27 01:06:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2442: 1 episodes +[05/27 01:06:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:06:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:06:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2442 +[05/27 01:06:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2442 in 2.87s (batch: 2.77s, save: 0.09s) +[05/27 01:06:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2442 +[05/27 01:06:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2442: 0/1 successful episodes +[05/27 01:06:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2491 (index 23/115) +[05/27 01:06:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:06:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place blue puzzle piece with rainbow next to transparent tall slender wine glass +[2026-05-27 01:08:19,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:08:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:28:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 2491 episode 0 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_2 completed with success=False +[05/27 01:28:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2491: 1 episodes +[05/27 01:28:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:28:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:28:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2491 +[05/27 01:28:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2491 in 2.94s (batch: 2.85s, save: 0.09s) +[05/27 01:28:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2491 +[05/27 01:28:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2491: 0/1 successful episodes +[05/27 01:28:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2607 (index 24/115) +[05/27 01:28:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2607 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:28:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/27 01:28:35 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelhouseroof_309fa6d6eba647d59e71f8b610d62241_1_0_3 in scene +[05/27 01:28:35 Worker 0 WARNING object_manager.py:1238] Could not find object plate_f61129d9e389712b24d18993ffe91ff5_1_0_3 in scene +Goal: place colorful garden gnome with beard next to red faceted gemstone +[2026-05-27 01:29:38,480] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:30:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:36:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 2607 episode 0 object objagardengnome_51597381f06e4a2ca353b478e5ca9fcb_1_0_2 completed with success=False +[05/27 01:36:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2607: 1 episodes +[05/27 01:36:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:36:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:36:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2607 +[05/27 01:36:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2607 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 01:36:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2607 +[05/27 01:36:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2607: 0/1 successful episodes +[05/27 01:36:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2735 (index 25/115) +[05/27 01:36:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2735 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:36:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/27 01:36:24 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_9 in scene +[05/27 01:36:24 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_00fa4f74e10b4769830bf60469c65e27_1_0_9 in scene +Goal: place black grenade with graffiti next to round medal with ribbon +[2026-05-27 01:37:27,608] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:56:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 2735 episode 0 object objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2 completed with success=False +[05/27 01:56:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2735: 1 episodes +[05/27 01:56:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:56:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:56:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2735 +[05/27 01:56:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2735 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 01:56:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2735 +[05/27 01:56:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2735: 0/1 successful episodes +[05/27 01:56:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2842 (index 26/115) +[05/27 01:56:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2842 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:56:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place yellow geiger counter with antennas next to flat brown h-shaped rectangular piece +[2026-05-27 01:58:11,620] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:12:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 2842 episode 0 object objageigercounter_fdbe3ec34d3940989088368c1d29eebb_1_0_6 completed with success=False +[05/27 02:12:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2842: 1 episodes +[05/27 02:12:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:12:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:12:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2842 +[05/27 02:12:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2842 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 02:12:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2842 +[05/27 02:12:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2842: 0/1 successful episodes +[05/27 02:12:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2914 (index 27/115) +[05/27 02:12:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2914 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:12:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place bronze statue of nude female next to bulbous shiny gold metallic vase +[2026-05-27 02:13:14,949] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:13:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:24:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2914 episode 0 object statue_cf03a53cab61be46a9663efe8cfd6045_1_0_4 completed with success=False +[05/27 02:24:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2914: 1 episodes +[05/27 02:24:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:24:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:24:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2914 +[05/27 02:24:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2914 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 02:24:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2914 +[05/27 02:24:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2914: 0/1 successful episodes +[05/27 02:24:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3041 (index 28/115) +[05/27 02:24:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:24:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place dark portable gas torch with label next to green plant with leaves +[2026-05-27 02:25:34,400] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:28:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 3041 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_6 completed with success=True +[05/27 02:28:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3041: 1 episodes +[05/27 02:28:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 105 timesteps +[05/27 02:28:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:28:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3041 +[05/27 02:28:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3041 in 2.60s (batch: 2.56s, save: 0.04s) +[05/27 02:28:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3041 +[05/27 02:28:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3041: 1/1 successful episodes +[05/27 02:28:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3142 (index 29/115) +[05/27 02:28:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:28:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 02:29:10 Worker 0 WARNING object_manager.py:1238] Could not find object objanoveltytoy_a223cbac2a604c1a8a26331b783a9647_1_0_6 in scene +Goal: place orange blowtorch next to purple crystal formation on base +[2026-05-27 02:30:15,485] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:47:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3142 episode 0 object objablowtorch_0d68b80a863f452190dc2119ec0648a9_1_0_4 completed with success=False +[05/27 02:48:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3142: 1 episodes +[05/27 02:48:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:48:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:48:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3142 +[05/27 02:48:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3142 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 02:48:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3142 +[05/27 02:48:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3142: 0/1 successful episodes +[05/27 02:48:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3233 (index 30/115) +[05/27 02:48:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3233 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:48:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place red candy cane shaped hook next to white stone +[2026-05-27 02:49:18,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:49:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:07:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3233 episode 0 object objadecorativehook_b879e5c52f244d00a29b91837c5f54c5_1_0_6 completed with success=False +[05/27 03:07:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3233: 1 episodes +[05/27 03:07:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:07:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:07:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3233 +[05/27 03:07:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3233 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 03:07:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3233 +[05/27 03:07:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3233: 0/1 successful episodes +[05/27 03:07:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3282 (index 31/115) +[05/27 03:07:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3282 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:07:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 03:07:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_2_0_3 in scene +[05/27 03:07:49 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_3 in scene +Goal: place bowl next to slim blue cell phone with pattern +[2026-05-27 03:08:50,983] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:23:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3282 episode 0 object bowl_2f9f64388a995199e35022d1cbe33117_1_0_6 completed with success=False +[05/27 03:23:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3282: 1 episodes +[05/27 03:23:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:23:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:23:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3282 +[05/27 03:23:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3282 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 03:23:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3282 +[05/27 03:23:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3282: 0/1 successful episodes +[05/27 03:23:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3364 (index 32/115) +[05/27 03:23:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3364 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:23:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 03:23:28 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5 in scene +Goal: place dark handle magnifying glass next to yellow handheld device with antenna +[2026-05-27 03:24:30,450] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:41:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 3364 episode 0 object objamagnifyingglass_46e565bd25934ef4a25f98c7b237fcb6_1_0_6 completed with success=False +[05/27 03:41:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3364: 1 episodes +[05/27 03:41:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:41:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:41:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3364 +[05/27 03:41:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3364 in 2.20s (batch: 2.12s, save: 0.09s) +[05/27 03:41:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3364 +[05/27 03:41:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3364: 0/1 successful episodes +[05/27 03:41:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3412 (index 33/115) +[05/27 03:41:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3412 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:41:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_78592db7cad94648b66edb363c5add2c_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_72eedb60542841c0a11d429d19854814_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_90536f2654814b4bb73d97a0020408b4_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_26517aa3be4441e290b40e57173cae71_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place shiny gold candy wrapper with twists next to round wooden bowl +[2026-05-27 03:42:59,803] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:57:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3412 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_8 completed with success=False +[05/27 03:57:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3412: 1 episodes +[05/27 03:57:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:57:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:57:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3412 +[05/27 03:57:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3412 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 03:57:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3412 +[05/27 03:57:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3412: 0/1 successful episodes +[05/27 03:57:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3502 (index 34/115) +[05/27 03:57:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:57:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 03:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeribbon_3be787e16e6a4f5fb8f4830d0b2cb03b_2_0_3 in scene +[05/27 03:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_3 in scene +Goal: place pastel scepter next to rustic stone mallet +[2026-05-27 03:58:21,627] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:58:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 3502 episode 0 object objadecorativescepter_325bf6c9f06a4438b0cd408c3ba59c95_1_0_4 completed with success=False +[05/27 04:10:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3502: 1 episodes +[05/27 04:10:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:10:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:10:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3502 +[05/27 04:10:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3502 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 04:10:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3502 +[05/27 04:10:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3502: 0/1 successful episodes +[05/27 04:10:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3585 (index 35/115) +[05/27 04:10:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:10:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place yellow teardrop weight with hanging loop next to translucent ergonomic spray bottle +[2026-05-27 04:12:04,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:19:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3585 episode 0 object objaweight_675cbe00e63b432f8c83c3c5f7e01763_1_0_2 completed with success=False +[05/27 04:19:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3585: 1 episodes +[05/27 04:19:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:19:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:19:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3585 +[05/27 04:19:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3585 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 04:19:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3585 +[05/27 04:19:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3585: 0/1 successful episodes +[05/27 04:19:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3688 (index 36/115) +[05/27 04:19:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3688 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:19:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place instrumentation next to soap dispenser +[2026-05-27 04:20:21,943] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:20:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:28:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3688 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_2 completed with success=False +[05/27 04:28:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3688: 1 episodes +[05/27 04:28:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:28:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:28:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3688 +[05/27 04:28:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3688 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 04:28:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3688 +[05/27 04:28:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3688: 0/1 successful episodes +[05/27 04:28:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3755 (index 37/115) +[05/27 04:28:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:28:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place long green dragon figure with horns next to medium shiny round bowl +[2026-05-27 04:29:23,445] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:45:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3755 episode 0 object objadecorativedragonfigure_d3f1a89770ff44ce8ff2655ab4c458a7_1_0_8 completed with success=False +[05/27 04:45:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3755: 1 episodes +[05/27 04:45:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:45:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:45:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3755 +[05/27 04:45:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3755 in 2.23s (batch: 2.14s, save: 0.09s) +[05/27 04:45:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3755 +[05/27 04:45:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3755: 0/1 successful episodes +[05/27 04:45:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3884 (index 38/115) +[05/27 04:45:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:45:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_39d799f20f4041228704749c854b60af_1_0_5 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaelectricalsocket_097b7c598d9a41188d96f57713357b9b_1_0_8 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_68d9f095a5164004a8e16858f1359be5_1_0_9 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_7a75c224806a4d04a7a9ebba517ad100_1_0_9 in scene +Goal: place small glossy turquoise eye of horus amulet next to orange fire truck with ladder +[2026-05-27 04:46:50,698] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:47:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:59:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 3884 episode 0 object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_4 completed with success=False +[05/27 04:59:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3884: 1 episodes +[05/27 04:59:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:59:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:59:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3884 +[05/27 04:59:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3884 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 04:59:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3884 +[05/27 04:59:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3884: 0/1 successful episodes +[05/27 04:59:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3925 (index 39/115) +[05/27 04:59:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:59:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_8 in scene +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyhouse_7bf471236e644443be26715ddcfba914_1_0_9 in scene +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_9 in scene +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_9 in scene +Goal: place vintage cast iron clothes iron with handle next to green apple with stem +[2026-05-27 05:00:45,591] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:16:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3925 episode 0 object objaclothesiron_33751730969346df8aa289d31228f3fb_1_0_2 completed with success=False +[05/27 05:16:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_8 in scene +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyhouse_7bf471236e644443be26715ddcfba914_1_0_9 in scene +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_9 in scene +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_9 in scene +Goal: place rusty vintage kerosene lantern with handle next to teal van with flowers +[2026-05-27 05:17:47,624] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:18:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:33:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 3925 episode 1 object objalantern_a1de8398597a4575a9c9a9f0a6e4dd2b_1_0_3 completed with success=False +[05/27 05:33:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3925: 2 episodes +[05/27 05:33:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:33:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:34:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:34:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:34:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3925 +[05/27 05:34:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3925 in 5.69s (batch: 5.51s, save: 0.17s) +[05/27 05:34:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3925 +[05/27 05:34:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3925: 0/2 successful episodes +[05/27 05:34:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4018 (index 40/115) +[05/27 05:34:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4018 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 05:34:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 05:34:07 Worker 0 WARNING object_manager.py:1238] Could not find object objapapertowelroll_d62583f82dfe46f0a8a8255d35a6de62_1_0_5 in scene +[05/27 05:34:07 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place long rusty metal rail with notches next to laptop computer +[2026-05-27 05:35:10,217] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:35:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:53:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4018 episode 0 object objametalrail_9643f982b1f84927af2ecd167a1ce232_1_0_3 completed with success=False +[05/27 05:53:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4018: 1 episodes +[05/27 05:53:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:53:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:53:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4018 +[05/27 05:53:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4018 in 2.92s (batch: 2.82s, save: 0.09s) +[05/27 05:53:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4018 +[05/27 05:53:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4018: 0/1 successful episodes +[05/27 05:53:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4108 (index 41/115) +[05/27 05:53:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 05:53:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place tall metal lock next to simple light brown ceramic bowl +[2026-05-27 05:54:21,135] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:54:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:10:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 0 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8 completed with success=False +[05/27 06:10:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4108: 1 episodes +[05/27 06:10:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:10:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:10:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4108 +[05/27 06:10:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4108 in 2.31s (batch: 2.19s, save: 0.12s) +[05/27 06:10:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4108 +[05/27 06:10:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4108: 0/1 successful episodes +[05/27 06:10:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4192 (index 42/115) +[05/27 06:10:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:10:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place dark wand with red crystal next to glass +[2026-05-27 06:11:38,770] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:12:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:19:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4192 episode 0 object objawand_2ae875cdb30240feb83d769b134115b2_1_0_2 completed with success=False +[05/27 06:19:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4192: 1 episodes +[05/27 06:19:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:19:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:19:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4192 +[05/27 06:19:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4192 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 06:19:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4192 +[05/27 06:19:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4192: 0/1 successful episodes +[05/27 06:19:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4263 (index 43/115) +[05/27 06:19:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4263 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:19:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 06:19:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_f948740713184d839e714a860cf8e997_1_0_5 in scene +[05/27 06:19:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place vintage portable radio next to bust of woman statue +[2026-05-27 06:20:36,178] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:41:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4263 episode 0 object objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_7 completed with success=False +[05/27 06:41:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4263: 1 episodes +[05/27 06:41:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:41:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:41:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4263 +[05/27 06:41:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4263 in 2.92s (batch: 2.80s, save: 0.12s) +[05/27 06:41:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4263 +[05/27 06:41:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4263: 0/1 successful episodes +[05/27 06:41:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4303 (index 44/115) +[05/27 06:41:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:41:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 06:41:54 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene +Goal: place green pliers next to blue vase +[2026-05-27 06:43:02,788] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:56:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8 completed with success=False +[05/27 06:56:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4303: 1 episodes +[05/27 06:56:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:56:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:56:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4303 +[05/27 06:56:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4303 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 06:56:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4303 +[05/27 06:56:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4303: 0/1 successful episodes +[05/27 06:56:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4348 (index 45/115) +[05/27 06:56:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:56:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place ciabatta olive bread package next to glossy dark hand +[2026-05-27 06:57:26,707] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:58:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:03:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4348 episode 0 object objapackagedfood_d9e056fc90d44ed080ac692526cb39d5_1_0_2 completed with success=False +[05/27 07:03:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4348: 1 episodes +[05/27 07:03:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:03:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:03:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4348 +[05/27 07:03:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4348 in 2.95s (batch: 2.85s, save: 0.09s) +[05/27 07:03:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4348 +[05/27 07:03:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4348: 0/1 successful episodes +[05/27 07:03:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4444 (index 46/115) +[05/27 07:03:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:03:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 07:03:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[05/27 07:03:45 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodentablet_090408c682e348a0ab00d904ae850628_1_0_5 in scene +Goal: place yellow cup next to white triangular wedge with texture +[2026-05-27 07:04:48,157] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:05:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:20:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4444 episode 0 object objacup_1595f63fbeb3421aa8a261c3815e3512_1_0_2 completed with success=False +[05/27 07:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4444: 1 episodes +[05/27 07:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:20:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:20:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4444 +[05/27 07:20:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4444 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 07:20:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4444 +[05/27 07:20:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4444: 0/1 successful episodes +[05/27 07:20:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4541 (index 47/115) +[05/27 07:20:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:20:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 07:20:59 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_0ec01afc7122493d8e8aecef2951df9c_1_0_5 in scene +[05/27 07:20:59 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene +Goal: place brown fabric spool next to hardcover book with wood-textured spine +[2026-05-27 07:22:03,412] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:38:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4541 episode 0 object objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_7 completed with success=False +[05/27 07:38:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4541: 1 episodes +[05/27 07:38:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:38:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:38:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4541 +[05/27 07:38:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4541 in 2.22s (batch: 2.13s, save: 0.09s) +[05/27 07:38:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4541 +[05/27 07:38:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4541: 0/1 successful episodes +[05/27 07:38:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4649 (index 48/115) +[05/27 07:38:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4649 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:38:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 07:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_7 in scene +Goal: place soft taco next to bulbous shiny gold metallic vase +[2026-05-27 07:40:06,102] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:51:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4649 episode 0 object objataco_5b8095131eca4914b6dce4e96b290a3f_1_0_8 completed with success=False +[05/27 07:51:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4649: 1 episodes +[05/27 07:51:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:51:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:51:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4649 +[05/27 07:51:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4649 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 07:51:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4649 +[05/27 07:51:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4649: 0/1 successful episodes +[05/27 07:51:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4690 (index 49/115) +[05/27 07:51:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4690 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:51:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place red swiss army knife with tools next to metal valve +[2026-05-27 07:53:01,149] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:03:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 4690 episode 0 object objaswissarmyknife_abf4a9f4cc2040a1a886516c385cf8c3_1_0_6 completed with success=False +[05/27 08:03:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4690: 1 episodes +[05/27 08:03:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:03:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:03:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4690 +[05/27 08:03:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4690 in 2.23s (batch: 2.14s, save: 0.10s) +[05/27 08:03:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4690 +[05/27 08:03:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4690: 0/1 successful episodes +[05/27 08:03:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4764 (index 50/115) +[05/27 08:03:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:03:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place beige cylindrical spray can with blue nozzle next to medium ripe red tomato with stem +[2026-05-27 08:04:29,176] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:09:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4764 episode 0 object objaspraycan_2a8a6f27693840e8b3990a277c39434e_1_0_2 completed with success=False +[05/27 08:09:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4764: 1 episodes +[05/27 08:09:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:09:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:09:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4764 +[05/27 08:09:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4764 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 08:09:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4764 +[05/27 08:09:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4764: 0/1 successful episodes +[05/27 08:09:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4781 (index 51/115) +[05/27 08:09:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:09:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place shiny gold candy wrapper with twists next to spherical puzzle globe map +[2026-05-27 08:11:05,055] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:11:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:24:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4781 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_2 completed with success=False +[05/27 08:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place purple candy wrapper with lighthouse next to transparent soap bottle with dark pump +[2026-05-27 08:25:38,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:26:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:38:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4781 episode 1 object objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_1_0_2 completed with success=False +[05/27 08:38:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4781: 2 episodes +[05/27 08:38:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4781 +[05/27 08:38:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4781 in 4.55s (batch: 4.37s, save: 0.18s) +[05/27 08:38:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4781 +[05/27 08:38:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4781: 0/2 successful episodes +[05/27 08:38:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4858 (index 52/115) +[05/27 08:38:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4858 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:38:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place sleek black vr headset with star next to tall cream candle in dark holder +[2026-05-27 08:39:53,360] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:40:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:47:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4858 episode 0 object objavirtualrealityheadset_deb9d583faf24786b06f2bf3f898abba_1_0_3 completed with success=False +[05/27 08:47:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4858: 1 episodes +[05/27 08:47:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:47:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:47:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4858 +[05/27 08:47:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4858 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 08:47:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4858 +[05/27 08:47:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4858: 0/1 successful episodes +[05/27 08:47:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4924 (index 53/115) +[05/27 08:47:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4924 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:47:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objawinterhat_a6abcf9811ab4d598fd62ab566683cf2_1_0_4 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_1_0_5 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_2_0_5 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objacapsule_da430c2f63ab44b4ac3248ea83a4277e_1_0_8 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_cf857d03afb41a06e23216bfba1c643e_1_0_8 in scene +Goal: place gold drill bit next to blue globe with penguin on top +[2026-05-27 08:49:09,624] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:03:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4924 episode 0 object objadrillbit_558c7a29208b474fb727d7482cc0be39_1_0_9 completed with success=False +[05/27 09:04:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4924: 1 episodes +[05/27 09:04:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:04:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:04:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4924 +[05/27 09:04:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4924 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 09:04:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4924 +[05/27 09:04:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4924: 0/1 successful episodes +[05/27 09:04:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5000 (index 54/115) +[05/27 09:04:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5000 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:04:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 09:04:37 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdskull_e4d9884f3aab481381c7eda752c45e8d_1_0_5 in scene +[05/27 09:04:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaanimalskull_181ba19843ae482bb2d60e23b4db283e_1_0_5 in scene +Goal: place bold yellow text sculpture saying party next to square olive green ceramic plate +[2026-05-27 09:05:39,195] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:06:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:16:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5000 episode 0 object objadecorativetext_dea5d073a34b44a5a6824f0f5a127db7_1_0_6 completed with success=False +[05/27 09:17:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5000: 1 episodes +[05/27 09:17:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:17:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:17:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5000 +[05/27 09:17:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5000 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 09:17:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5000 +[05/27 09:17:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5000: 0/1 successful episodes +[05/27 09:17:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5108 (index 55/115) +[05/27 09:17:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:17:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 09:17:16 Worker 0 WARNING object_manager.py:1238] Could not find object objatoycamera_8eff73b71375445a8ba75949d58bd3e0_1_0_7 in scene +Goal: place vintage portable radio next to square white ceramic plate with ridges +[2026-05-27 09:18:18,912] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:18:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:27:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5108 episode 0 object objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_6 completed with success=False +[05/27 09:27:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5108: 1 episodes +[05/27 09:27:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:27:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:27:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5108 +[05/27 09:27:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5108 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 09:27:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5108 +[05/27 09:27:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5108: 0/1 successful episodes +[05/27 09:27:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5185 (index 56/115) +[05/27 09:27:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:27:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 09:27:55 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene +Goal: place camouflage suppressor next to rectangular yellow plaid pillow +[2026-05-27 09:28:58,510] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:44:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 5185 episode 0 object objasuppressor_6dcc657967014bc7846c58ebc7657f01_1_0_3 completed with success=False +[05/27 09:44:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5185: 1 episodes +[05/27 09:44:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:44:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:44:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5185 +[05/27 09:44:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5185 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 09:44:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5185 +[05/27 09:44:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5185: 0/1 successful episodes +[05/27 09:44:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5278 (index 57/115) +[05/27 09:44:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:44:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place green pcb with components next to lightweight brown cardboard box with flaps +[2026-05-27 09:45:21,862] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:45:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:55:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5278 episode 0 object objaprintedcircuitboard_ce1bbb8d4d4f4be4832b662b27dca3bc_1_0_7 completed with success=False +[05/27 09:55:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5278: 1 episodes +[05/27 09:55:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:55:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:55:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5278 +[05/27 09:55:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5278 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 09:55:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5278 +[05/27 09:55:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5278: 0/1 successful episodes +[05/27 09:55:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5437 (index 58/115) +[05/27 09:55:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:55:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place fresh pineapple with spiky green leaves next to bulbous shiny gold vase +[2026-05-27 09:57:32,142] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:14:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5437 episode 0 object objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_2 completed with success=False +[05/27 10:14:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5437: 1 episodes +[05/27 10:14:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:14:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:14:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5437 +[05/27 10:14:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5437 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 10:14:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5437 +[05/27 10:14:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5437: 0/1 successful episodes +[05/27 10:14:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5508 (index 59/115) +[05/27 10:14:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 10:14:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 10:14:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/27 10:14:31 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +Goal: place dark metal chisel next to teal dragon +[2026-05-27 10:15:34,980] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:33:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5508 episode 0 object objachisel_d02e673a43fd4d5a8bdf76ff0bd60dbf_2_0_3 completed with success=False +[05/27 10:33:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5508: 1 episodes +[05/27 10:33:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:33:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:33:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5508 +[05/27 10:33:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5508 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 10:33:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5508 +[05/27 10:33:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5508: 0/1 successful episodes +[05/27 10:33:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5592 (index 60/115) +[05/27 10:33:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5592 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 10:33:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 10:33:52 Worker 0 WARNING object_manager.py:1238] Could not find object objahandmodel_68256e3205da4eb9a4308b477d0ac5d0_1_0_8 in scene +[05/27 10:33:52 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene +[05/27 10:33:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +Goal: place white bolt with green threaded shaft next to bronze female nude statue +[2026-05-27 10:34:54,913] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:35:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:45:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5592 episode 0 object objabolt_2f8c479805f3427d9592185a16de8f9c_1_0_9 completed with success=False +[05/27 10:45:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5592: 1 episodes +[05/27 10:45:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:45:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:45:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5592 +[05/27 10:45:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5592 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 10:45:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5592 +[05/27 10:45:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5592: 0/1 successful episodes +[05/27 10:45:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5644 (index 61/115) +[05/27 10:45:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5644 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 10:45:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place curved bone next to cartoon orange moth +[2026-05-27 10:47:06,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:01:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 5644 episode 0 object objadecorativeitem_270028bfd1404d2d9b97f54057838674_1_0_4 completed with success=False +[05/27 11:01:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5644: 1 episodes +[05/27 11:01:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:01:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:01:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5644 +[05/27 11:01:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5644 in 2.86s (batch: 2.76s, save: 0.09s) +[05/27 11:01:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5644 +[05/27 11:01:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5644: 0/1 successful episodes +[05/27 11:01:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5718 (index 62/115) +[05/27 11:01:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5718 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:01:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place wooden paddle with accents next to ornate purple crown with gold +[2026-05-27 11:02:36,167] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:03:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:11:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5718 episode 0 object objadecorativepaddle_21ebe537f4004cdeabb83243a1e76d55_1_0_2 completed with success=False +[05/27 11:11:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5718: 1 episodes +[05/27 11:11:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:11:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:11:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5718 +[05/27 11:11:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5718 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 11:11:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5718 +[05/27 11:11:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5718: 0/1 successful episodes +[05/27 11:11:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5863 (index 63/115) +[05/27 11:11:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:11:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place white paint roller next to burgundy metallic rectangular toaster +[2026-05-27 11:12:39,873] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:23:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5863 episode 0 object objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_6 completed with success=False +[05/27 11:23:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5863: 1 episodes +[05/27 11:23:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:23:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:23:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5863 +[05/27 11:23:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5863 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 11:23:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5863 +[05/27 11:23:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5863: 0/1 successful episodes +[05/27 11:23:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5908 (index 64/115) +[05/27 11:23:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5908 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:23:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place yellow pen next to brown bowl +[2026-05-27 11:24:53,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:34:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5908 episode 0 object objafountainpen_2877301eda684d2183ca24eaec21cee0_1_0_2 completed with success=False +[05/27 11:34:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5908: 1 episodes +[05/27 11:34:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:34:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:34:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5908 +[05/27 11:34:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5908 in 2.87s (batch: 2.77s, save: 0.09s) +[05/27 11:34:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5908 +[05/27 11:34:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5908: 0/1 successful episodes +[05/27 11:34:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5985 (index 65/115) +[05/27 11:34:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:34:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place wooden hand next to brown rusty cylindrical vintage oilcan +[2026-05-27 11:35:25,842] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:41:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 5985 episode 0 object objaartistmannequinhand_a16d835bd7e44756b621f407ba11b8cc_2_0_2 completed with success=False +[05/27 11:41:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5985: 1 episodes +[05/27 11:41:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:41:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:41:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5985 +[05/27 11:41:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5985 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 11:41:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5985 +[05/27 11:41:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5985: 0/1 successful episodes +[05/27 11:41:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6093 (index 66/115) +[05/27 11:41:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6093 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:41:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place vintage wooden corkscrew with lever next to sleek turquoise aircraft with engines +[2026-05-27 11:42:43,734] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:53:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 6093 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_6 completed with success=False +[05/27 11:54:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6093: 1 episodes +[05/27 11:54:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:54:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:54:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6093 +[05/27 11:54:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6093 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 11:54:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6093 +[05/27 11:54:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6093: 0/1 successful episodes +[05/27 11:54:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6155 (index 67/115) +[05/27 11:54:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:54:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place golden brown chocolate chip muffin next to cutting implement +[2026-05-27 11:55:21,059] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:55:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:04:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 6155 episode 0 object objamuffin_dc883f9b758347f0a83235c842120f6d_1_0_6 completed with success=False +[05/27 12:04:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6155: 1 episodes +[05/27 12:04:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:04:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:04:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6155 +[05/27 12:04:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6155 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 12:04:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6155 +[05/27 12:04:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6155: 0/1 successful episodes +[05/27 12:04:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6241 (index 68/115) +[05/27 12:04:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6241 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:04:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 12:04:27 Worker 0 WARNING object_manager.py:1238] Could not find object objabasketballshoe_279cb48afa8a4a91a765b371b2aa9107_1_0_5 in scene +[05/27 12:04:27 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_5 in scene +[05/27 12:04:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaneonsign_3468b4f91d5046478a3875a1066e0df6_1_0_6 in scene +Goal: place old rusted circular metal ring next to animal tissue +[2026-05-27 12:05:29,880] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:06:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:24:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 6241 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7 completed with success=False +[05/27 12:24:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6241: 1 episodes +[05/27 12:24:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:24:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:24:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6241 +[05/27 12:24:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6241 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 12:24:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6241 +[05/27 12:24:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6241: 0/1 successful episodes +[05/27 12:24:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6289 (index 69/115) +[05/27 12:24:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6289 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:24:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place metallic tapered cup next to small oval brown potato with texture +[2026-05-27 12:26:14,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:26:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:34:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 6289 episode 0 object cup_c2a1d01cc61341b5eb8c564a7fb9c769_1_0_2 completed with success=False +[05/27 12:34:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6289: 1 episodes +[05/27 12:34:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:34:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:34:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6289 +[05/27 12:34:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6289 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 12:34:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6289 +[05/27 12:34:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6289: 0/1 successful episodes +[05/27 12:34:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6350 (index 70/115) +[05/27 12:34:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:34:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place metal sharpener next to shiny gold vase +[2026-05-27 12:35:48,354] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:49:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 6350 episode 0 object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_4 completed with success=False +[05/27 12:49:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6350: 1 episodes +[05/27 12:49:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:49:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:49:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6350 +[05/27 12:49:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6350 in 2.93s (batch: 2.83s, save: 0.09s) +[05/27 12:49:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6350 +[05/27 12:49:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6350: 0/1 successful episodes +[05/27 12:49:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6421 (index 71/115) +[05/27 12:49:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:49:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place off-white stone carved relief next to bulbous shiny gold metallic vase +[2026-05-27 12:51:05,516] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:51:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:58:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6421 episode 0 object objawallrelief_c342f42a8dac41b19cb6d017ab19906b_1_0_3 completed with success=False +[05/27 12:58:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6421: 1 episodes +[05/27 12:58:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:58:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:58:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6421 +[05/27 12:58:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6421 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 12:58:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6421 +[05/27 12:58:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6421: 0/1 successful episodes +[05/27 12:58:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6523 (index 72/115) +[05/27 12:58:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:58:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 12:59:15 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_36cf424a356146249c8043410083858f_1_0_5 in scene +[05/27 12:59:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_2_0_5 in scene +Goal: place blue dna double helix model next to blue spray bottle +[2026-05-27 13:00:18,200] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:00:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:06:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6523 episode 0 object objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_8 completed with success=False +[05/27 13:06:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6523: 1 episodes +[05/27 13:06:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:06:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:06:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6523 +[05/27 13:06:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6523 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 13:06:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6523 +[05/27 13:06:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6523: 0/1 successful episodes +[05/27 13:06:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6624 (index 73/115) +[05/27 13:06:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6624 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:06:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 13:06:42 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_b5d873e9282da3d6480dce5dc1588ed8_1_0_2 in scene +Goal: place kitchen knife with yellow handle next to blue toaster appliance +[2026-05-27 13:07:45,501] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:08:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:17:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 6624 episode 0 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_2 completed with success=False +[05/27 13:17:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6624: 1 episodes +[05/27 13:17:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:17:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:17:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6624 +[05/27 13:17:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6624 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 13:17:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6624 +[05/27 13:17:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6624: 0/1 successful episodes +[05/27 13:17:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6739 (index 74/115) +[05/27 13:17:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6739 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:17:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place round-bottom flask next to soapdispenser +[2026-05-27 13:18:24,705] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:18:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:32:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6739 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_8 completed with success=False +[05/27 13:32:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6739: 1 episodes +[05/27 13:32:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:32:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:32:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6739 +[05/27 13:32:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6739 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 13:32:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6739 +[05/27 13:32:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6739: 0/1 successful episodes +[05/27 13:32:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6826 (index 75/115) +[05/27 13:32:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6826 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:32:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 13:33:00 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_23f04afb5ef44cadb4930ceb2e1a0dcd_1_0_5 in scene +[05/27 13:33:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +Goal: place carved wooden king holding orb next to white quilted pillow +[2026-05-27 13:34:05,017] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:34:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:44:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 6826 episode 0 object objawoodensculpture_fce3d47b8a6b4f8ea3e727af33f5d3af_1_0_7 completed with success=False +[05/27 13:44:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6826: 1 episodes +[05/27 13:44:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:44:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:44:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6826 +[05/27 13:44:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6826 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 13:44:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6826 +[05/27 13:44:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6826: 0/1 successful episodes +[05/27 13:44:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6933 (index 76/115) +[05/27 13:44:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:44:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place brown and white chihuahua sculpture next to blue pixelated police figure smoking +[2026-05-27 13:45:51,317] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 6933 episode 0 object objaceramicsculpture_d7176802cbe74b7eb64043e360766e80_1_0_3 completed with success=False +[05/27 14:04:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6933: 1 episodes +[05/27 14:04:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:04:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:04:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6933 +[05/27 14:04:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6933 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 14:04:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6933 +[05/27 14:04:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6933: 0/1 successful episodes +[05/27 14:04:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6994 (index 77/115) +[05/27 14:04:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 14:04:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place walkie-talkie next to white rectangular electrical component +[2026-05-27 14:05:36,628] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:06:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:15:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 6994 episode 0 object objatwowayradio_ed53cb1466564895b5a0b65067c04aeb_1_0_7 completed with success=False +[05/27 14:15:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6994: 1 episodes +[05/27 14:15:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:15:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:15:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6994 +[05/27 14:15:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6994 in 2.30s (batch: 2.20s, save: 0.09s) +[05/27 14:15:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6994 +[05/27 14:15:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6994: 0/1 successful episodes +[05/27 14:15:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7057 (index 78/115) +[05/27 14:15:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 14:15:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place dentures next to orange wavy terracotta tile +[2026-05-27 14:16:25,516] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:27:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7057 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 completed with success=False +[05/27 14:27:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7057: 1 episodes +[05/27 14:27:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:27:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:27:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7057 +[05/27 14:27:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7057 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 14:27:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7057 +[05/27 14:27:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7057: 0/1 successful episodes +[05/27 14:27:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7134 (index 79/115) +[05/27 14:27:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 7134 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 14:27:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 14:27:59 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene +[05/27 14:27:59 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place rectangular clay tablet with inscriptions next to hikingshoe +[2026-05-27 14:29:02,644] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:47:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 7134 episode 0 object objaclaytablet_dc350f51b9754a3088196be223f9c0f4_1_0_5 completed with success=False +[05/27 14:47:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 14:48:02 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene +[05/27 14:48:02 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place round shallow metal dish with texture next to glossy red vase with narrow neck +[2026-05-27 14:49:07,191] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:49:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:07:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 7134 episode 1 object objadish_5d72b52d57604e109b4d23173707a186_1_0_2 completed with success=False +[05/27 15:07:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7134: 2 episodes +[05/27 15:07:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:07:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:07:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7134 +[05/27 15:07:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7134 in 5.66s (batch: 5.49s, save: 0.17s) +[05/27 15:07:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7134 +[05/27 15:07:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7134: 0/2 successful episodes +[05/27 15:07:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7140 (index 80/115) +[05/27 15:07:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 15:07:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +Goal: place red roller with yellow core next to small beige clay smoking pipe +[2026-05-27 15:09:12,208] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:09:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:27:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 7140 episode 0 object objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6 completed with success=False +[05/27 15:27:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7140: 1 episodes +[05/27 15:27:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:27:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7140 +[05/27 15:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7140 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 15:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7140 +[05/27 15:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7140: 0/1 successful episodes +[05/27 15:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7220 (index 81/115) +[05/27 15:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7220 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 15:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeitem_cc4bcb149acd44e682eacf1b87f9d7ec_1_0_3 in scene +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object box_cab37dabf893c5e8d3c18a3ad1a8b8eb_1_0_3 in scene +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_9 in scene +Goal: place turquoise gray handheld garden nozzle next to smooth translucent white bowl +[2026-05-27 15:28:44,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:46:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7220 episode 0 object objagardenhosenozzle_619500aff9084deda175046b10dea026_1_0_2 completed with success=False +[05/27 15:46:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7220: 1 episodes +[05/27 15:46:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:46:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:46:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7220 +[05/27 15:46:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7220 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 15:46:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7220 +[05/27 15:46:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7220: 0/1 successful episodes +[05/27 15:46:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7323 (index 82/115) +[05/27 15:46:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 15:46:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 15:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaadhesivetube_338fcd5ea9de466ab71641ff9f528724_1_0_5 in scene +[05/27 15:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetile_b385283fec254ff3a812a190fe0d0de5_1_0_5 in scene +[05/27 15:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_5 in scene +Goal: place red onion with stem and roots next to compact blue toaster +[2026-05-27 15:47:44,906] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:48:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:04:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 7323 episode 0 object objaonion_3de79af9c89a441881daba64c884bbbf_2_0_2 completed with success=False +[05/27 16:04:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7323: 1 episodes +[05/27 16:04:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:04:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:04:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7323 +[05/27 16:04:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7323 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 16:04:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7323 +[05/27 16:04:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7323: 0/1 successful episodes +[05/27 16:04:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7362 (index 83/115) +[05/27 16:04:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7362 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:04:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place black sleek wall-mounted hook next to stone slab city map +[2026-05-27 16:05:30,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7362 episode 0 object objacoathook_39c055fa857242fe839af81c1de61997_1_0_6 completed with success=False +[05/27 16:21:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7362: 1 episodes +[05/27 16:21:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:21:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:21:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7362 +[05/27 16:21:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7362 in 2.35s (batch: 2.27s, save: 0.09s) +[05/27 16:21:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7362 +[05/27 16:21:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7362: 0/1 successful episodes +[05/27 16:21:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7437 (index 84/115) +[05/27 16:21:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:21:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 16:22:09 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_9 in scene +[05/27 16:22:09 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_7884554b6cdc4a399e2f948cf5c0ecae_1_0_9 in scene +Goal: place sleek metallic rod with brackets next to detailed pale animal skull +[2026-05-27 16:23:14,090] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:23:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:42:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 7437 episode 0 object objacurtainrod_39e17d1508e64d57889236ccc409ba33_1_0_7 completed with success=False +[05/27 16:42:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7437: 1 episodes +[05/27 16:42:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:42:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:42:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7437 +[05/27 16:42:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7437 in 2.84s (batch: 2.74s, save: 0.10s) +[05/27 16:42:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7437 +[05/27 16:42:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7437: 0/1 successful episodes +[05/27 16:42:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7501 (index 85/115) +[05/27 16:42:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7501 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:42:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place tall worn brown vintage book next to soap bottle +[2026-05-27 16:43:48,847] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:44:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:49:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7501 episode 0 object objabook_ff96bdc835d64c179d37fc3f41828dfa_1_0_2 completed with success=False +[05/27 16:49:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7501: 1 episodes +[05/27 16:49:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:49:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:49:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7501 +[05/27 16:49:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7501 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 16:49:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7501 +[05/27 16:49:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7501: 0/1 successful episodes +[05/27 16:49:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7619 (index 86/115) +[05/27 16:49:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7619 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:49:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 16:49:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene +Goal: place black lightning trophy with silver plaque next to cratered gray moon +[2026-05-27 16:50:30,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:51:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:59:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 7619 episode 0 object objaaward_767baba2ef7145d188ab5437730b76ff_1_0_6 completed with success=False +[05/27 16:59:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7619: 1 episodes +[05/27 16:59:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:59:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:59:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7619 +[05/27 16:59:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7619 in 2.29s (batch: 2.20s, save: 0.09s) +[05/27 16:59:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7619 +[05/27 16:59:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7619: 0/1 successful episodes +[05/27 16:59:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7730 (index 87/115) +[05/27 16:59:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7730 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:59:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place gray rod with holes next to round dark crust bread +[2026-05-27 17:01:16,636] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:01:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:10:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 7730 episode 0 object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_6 completed with success=False +[05/27 17:10:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7730: 1 episodes +[05/27 17:10:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:10:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:10:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7730 +[05/27 17:10:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7730 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 17:10:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7730 +[05/27 17:10:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7730: 0/1 successful episodes +[05/27 17:10:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7822 (index 88/115) +[05/27 17:10:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7822 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:10:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place brass candlestick next to pink rectangular shoe box with logos +[2026-05-27 17:11:26,827] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:21:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 7822 episode 0 object objacandlestick_aa9eb2f8e6584858a1299adf6fee38fd_1_0_2 completed with success=False +[05/27 17:21:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7822: 1 episodes +[05/27 17:21:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:21:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:21:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7822 +[05/27 17:21:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7822 in 2.86s (batch: 2.76s, save: 0.09s) +[05/27 17:21:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7822 +[05/27 17:21:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7822: 0/1 successful episodes +[05/27 17:21:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7874 (index 89/115) +[05/27 17:21:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7874 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:21:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place woodworking plane next to baked goods +[2026-05-27 17:22:39,063] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:23:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:33:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 7874 episode 0 object objahandplane_c8e3f42e592c4addad281fed0cca95a9_1_0_6 completed with success=False +[05/27 17:33:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7874: 1 episodes +[05/27 17:33:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:33:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:33:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7874 +[05/27 17:33:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7874 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 17:33:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7874 +[05/27 17:33:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7874: 0/1 successful episodes +[05/27 17:33:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7994 (index 90/115) +[05/27 17:33:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:33:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place handheld tool with red gear head next to dark matte cup with tapered base +[2026-05-27 17:35:04,775] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:35:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:42:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7994 episode 0 object objahandheldtool_0bdb9848a979492ebc8671f1044648cf_1_0_2 completed with success=False +[05/27 17:43:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7994: 1 episodes +[05/27 17:43:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:43:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:43:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7994 +[05/27 17:43:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7994 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 17:43:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7994 +[05/27 17:43:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7994: 0/1 successful episodes +[05/27 17:43:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8095 (index 91/115) +[05/27 17:43:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8095 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:43:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 17:43:32 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene +[05/27 17:43:32 Worker 0 WARNING object_manager.py:1238] Could not find object vase_6cb319ff57e79d3745bd6ac29c8adb3d_2_0_7 in scene +[05/27 17:43:32 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_8 in scene +Goal: place vintage green stick grenade next to brown bowl +[2026-05-27 17:44:35,428] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:45:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:03:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 8095 episode 0 object objareplicagrenade_7edd60c4948642b290d863898cacd3dd_1_0_6 completed with success=False +[05/27 18:03:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8095: 1 episodes +[05/27 18:03:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:03:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:03:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8095 +[05/27 18:03:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8095 in 2.33s (batch: 2.24s, save: 0.10s) +[05/27 18:03:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8095 +[05/27 18:03:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8095: 0/1 successful episodes +[05/27 18:03:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8178 (index 92/115) +[05/27 18:03:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8178 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:03:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place vintage metal manual juicer next to spray +[2026-05-27 18:05:18,061] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:05:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:15:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 8178 episode 0 object objamanualjuicer_f80fbe1482444cc88a218db26b76a74d_1_0_6 completed with success=False +[05/27 18:15:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8178: 1 episodes +[05/27 18:15:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:15:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:15:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8178 +[05/27 18:15:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8178 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 18:15:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8178 +[05/27 18:15:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8178: 0/1 successful episodes +[05/27 18:15:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8237 (index 93/115) +[05/27 18:15:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:15:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place wrench next to white disposable paper coffee cup +[2026-05-27 18:16:56,043] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:17:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8237 episode 0 object objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_2 completed with success=False +[05/27 18:28:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8237: 1 episodes +[05/27 18:28:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:28:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8237 +[05/27 18:28:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8237 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 18:28:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8237 +[05/27 18:28:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8237: 0/1 successful episodes +[05/27 18:28:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8321 (index 94/115) +[05/27 18:28:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8321 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:28:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place curved horn next to birdskull +[2026-05-27 18:29:42,733] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:30:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:41:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 8321 episode 0 object objadecorativehorn_537d8e1397044be7a2f777c289497445_1_0_6 completed with success=False +[05/27 18:41:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8321: 1 episodes +[05/27 18:41:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:41:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:41:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8321 +[05/27 18:41:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8321 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 18:41:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8321 +[05/27 18:41:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8321: 0/1 successful episodes +[05/27 18:41:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8394 (index 95/115) +[05/27 18:41:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8394 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:41:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place red and white soup can next to medium round brown bread loaf +[2026-05-27 18:42:37,544] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:43:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:51:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 8394 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_6 completed with success=False +[05/27 18:51:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8394: 1 episodes +[05/27 18:51:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:51:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:51:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8394 +[05/27 18:51:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8394 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 18:51:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8394 +[05/27 18:51:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8394: 0/1 successful episodes +[05/27 18:51:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8480 (index 96/115) +[05/27 18:51:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:51:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place gavel with brown handle and brass next to bronze statue of nude female +[2026-05-27 18:52:37,590] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:59:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 8480 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False +[05/27 18:59:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8480: 1 episodes +[05/27 18:59:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:59:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:59:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8480 +[05/27 18:59:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8480 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 18:59:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8480 +[05/27 18:59:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8480: 0/1 successful episodes +[05/27 18:59:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8560 (index 97/115) +[05/27 18:59:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8560 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:59:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place chocolatebunny next to colorful graffiti grenade with handle +[2026-05-27 19:01:19,244] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:01:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:12:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 8560 episode 0 object objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_4 completed with success=False +[05/27 19:12:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8560: 1 episodes +[05/27 19:12:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:13:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:13:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8560 +[05/27 19:13:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8560 in 2.86s (batch: 2.76s, save: 0.10s) +[05/27 19:13:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8560 +[05/27 19:13:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8560: 0/1 successful episodes +[05/27 19:13:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8678 (index 98/115) +[05/27 19:13:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:13:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 19:13:20 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_5 in scene +[05/27 19:13:20 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene +Goal: place white paper cup with starbucks logo next to yellow apple with stem +[2026-05-27 19:14:25,853] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:14:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:30:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 8678 episode 0 object objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_2 completed with success=False +[05/27 19:30:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8678: 1 episodes +[05/27 19:30:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:30:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:30:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8678 +[05/27 19:30:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8678 in 2.96s (batch: 2.87s, save: 0.09s) +[05/27 19:30:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8678 +[05/27 19:30:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8678: 0/1 successful episodes +[05/27 19:30:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8748 (index 99/115) +[05/27 19:30:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:30:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place sharp knife next to soapdispenser +[2026-05-27 19:31:22,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:31:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:33:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 8748 episode 0 object knife_ddd3867ee8b360621e97c1da8ea8906d_1_0_6 completed with success=False +[05/27 19:34:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8748: 1 episodes +[05/27 19:34:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:34:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:34:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8748 +[05/27 19:34:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8748 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 19:34:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8748 +[05/27 19:34:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8748: 0/1 successful episodes +[05/27 19:34:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8853 (index 100/115) +[05/27 19:34:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:34:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_7 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_2_0_8 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_e6c6ee75a221e60aa884f04d694f5c5d_1_0_8 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_8 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_9 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_9 in scene +Goal: place crockery next to ceramic bowl +[2026-05-27 19:35:15,677] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:52:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 8853 episode 0 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/27 19:52:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8853: 1 episodes +[05/27 19:52:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:52:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:52:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8853 +[05/27 19:52:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8853 in 2.37s (batch: 2.27s, save: 0.10s) +[05/27 19:52:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8853 +[05/27 19:52:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8853: 0/1 successful episodes +[05/27 19:52:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8905 (index 101/115) +[05/27 19:52:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8905 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:52:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 19:53:16 Worker 0 WARNING object_manager.py:1238] Could not find object objabottleopener_d39e342e22d84736968af167f3a865c0_1_0_8 in scene +[05/27 19:53:16 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +Goal: place vintage metal lantern with glass chimney next to black gaming mouse +[2026-05-27 19:54:20,504] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:54:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:08:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 8905 episode 0 object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_9 completed with success=False +[05/27 20:08:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8905: 1 episodes +[05/27 20:08:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:08:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:08:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8905 +[05/27 20:08:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8905 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 20:08:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8905 +[05/27 20:08:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8905: 0/1 successful episodes +[05/27 20:08:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8988 (index 102/115) +[05/27 20:08:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8988 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:08:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place ice-cream cone next to transparent tapered clear plastic cup +[2026-05-27 20:09:40,042] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:10:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:27:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8988 episode 0 object objaicecreamcone_86ccdf30b5f649ab877e698ceaeace33_1_0_2 completed with success=False +[05/27 20:27:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8988: 1 episodes +[05/27 20:27:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:27:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:27:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8988 +[05/27 20:27:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8988 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 20:27:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8988 +[05/27 20:27:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8988: 0/1 successful episodes +[05/27 20:27:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9044 (index 103/115) +[05/27 20:27:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9044 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:27:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place medium red apple with smooth surface next to pink heart +[2026-05-27 20:28:36,451] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:29:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:42:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 9044 episode 0 object apple_1184bcea45a878476443040fbba5b76d_1_0_2 completed with success=False +[05/27 20:42:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9044: 1 episodes +[05/27 20:42:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:42:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:42:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9044 +[05/27 20:42:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9044 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 20:42:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9044 +[05/27 20:42:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9044: 0/1 successful episodes +[05/27 20:42:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9102 (index 104/115) +[05/27 20:42:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:42:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place purple serum bottle next to sleek modern juicer metal +[2026-05-27 20:44:45,096] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:58:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 9102 episode 0 object objabottle_745d282ade2c4b4c8a2b6d8c27cd9112_1_0_8 completed with success=False +[05/27 20:58:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9102: 1 episodes +[05/27 20:58:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:58:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:58:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9102 +[05/27 20:58:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9102 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 20:58:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9102 +[05/27 20:58:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9102: 0/1 successful episodes +[05/27 20:58:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9171 (index 105/115) +[05/27 20:58:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9171 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:58:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 20:58:44 Worker 0 WARNING object_manager.py:1238] Could not find object objanarwhalskull_7aca2583e1e44dcfa06fbf2f87ae9a7f_1_0_9 in scene +[05/27 20:58:44 Worker 0 WARNING object_manager.py:1238] Could not find object plate_5eb7564ba51c03b33a20e901d23c4f3b_1_0_9 in scene +Goal: place white rectangular light switch plate next to white rectangular switch plate +[2026-05-27 20:59:46,838] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:00:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:14:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 9171 episode 0 object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_2_0_5 completed with success=False +[05/27 21:14:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9171: 1 episodes +[05/27 21:14:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:14:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:14:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9171 +[05/27 21:14:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9171 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 21:14:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9171 +[05/27 21:14:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9171: 0/1 successful episodes +[05/27 21:14:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9277 (index 106/115) +[05/27 21:14:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:14:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 21:14:57 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[05/27 21:14:57 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place silver vintage train car model next to figure +[2026-05-27 21:16:01,471] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:16:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:31:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 9277 episode 0 object objatraincarmodel_72eabcdc9e4348a78864d42d439d39b0_1_0_3 completed with success=False +[05/27 21:31:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9277: 1 episodes +[05/27 21:31:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:31:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:31:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9277 +[05/27 21:31:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9277 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 21:31:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9277 +[05/27 21:31:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9277: 0/1 successful episodes +[05/27 21:31:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9337 (index 107/115) +[05/27 21:31:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9337 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:31:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 21:32:03 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +[05/27 21:32:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_5 in scene +Goal: place vintage metal pencil sharpener next to green hexagonal patterned shell +[2026-05-27 21:33:07,298] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:33:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:35:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9337 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_8 completed with success=True +[05/27 21:35:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9337: 1 episodes +[05/27 21:35:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/27 21:35:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:35:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9337 +[05/27 21:35:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9337 in 1.97s (batch: 1.93s, save: 0.03s) +[05/27 21:35:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9337 +[05/27 21:35:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9337: 1/1 successful episodes +[05/27 21:35:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9463 (index 108/115) +[05/27 21:35:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9463 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:35:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 21:36:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaslideprojector_78d0310c779d4354be606bc41b16c8a1_1_0_5 in scene +[05/27 21:36:03 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_5 in scene +Goal: place flower topped decorative scepter next to gold pump bottle +[2026-05-27 21:37:07,964] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:37:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 9463 episode 0 object objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_2 completed with success=False +[05/27 21:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9463: 1 episodes +[05/27 21:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:54:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:54:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9463 +[05/27 21:54:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9463 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 21:54:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9463 +[05/27 21:54:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9463: 0/1 successful episodes +[05/27 21:54:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9514 (index 109/115) +[05/27 21:54:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:54:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place geometric copper candleholder with candle next to teal and yellow binoculars with strap +[2026-05-27 21:55:35,722] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:05:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9514 episode 0 object objacandleholder_1bc497c2bcd140de9928b2cc0543d440_1_0_7 completed with success=False +[05/27 22:05:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9514: 1 episodes +[05/27 22:05:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:05:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:05:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9514 +[05/27 22:05:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9514 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 22:05:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9514 +[05/27 22:05:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9514: 0/1 successful episodes +[05/27 22:05:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9599 (index 110/115) +[05/27 22:05:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:05:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 22:05:47 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene +Goal: place blue disc next to round brown dome-shaped loaf bread +[2026-05-27 22:06:52,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:07:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:14:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 9599 episode 0 object objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_6 completed with success=False +[05/27 22:14:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9599: 1 episodes +[05/27 22:14:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:14:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:14:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9599 +[05/27 22:14:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9599 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 22:14:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9599 +[05/27 22:14:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9599: 0/1 successful episodes +[05/27 22:14:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9661 (index 111/115) +[05/27 22:14:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9661 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:14:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place shiny gold script next to dark curved metal tool with handle +[2026-05-27 22:16:11,405] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:16:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:25:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 9661 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_6 completed with success=False +[05/27 22:25:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9661: 1 episodes +[05/27 22:25:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:25:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:25:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9661 +[05/27 22:25:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9661 in 2.86s (batch: 2.76s, save: 0.10s) +[05/27 22:25:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9661 +[05/27 22:25:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9661: 0/1 successful episodes +[05/27 22:25:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9759 (index 112/115) +[05/27 22:25:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9759 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:25:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place sleek dark rectangular phone next to traffic signal +[2026-05-27 22:26:41,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:27:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:35:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 9759 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2 completed with success=False +[05/27 22:35:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9759: 1 episodes +[05/27 22:35:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:35:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:35:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9759 +[05/27 22:35:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9759 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 22:35:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9759 +[05/27 22:35:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9759: 0/1 successful episodes +[05/27 22:35:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9913 (index 113/115) +[05/27 22:35:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9913 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:35:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place long glossy green cucumber with ridges next to light ceramic bowl +[2026-05-27 22:36:33,615] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:37:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:49:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 9913 episode 0 object objacucumber_389e61e3fd1e4eacad0000f2e7c31f83_1_0_8 completed with success=False +[05/27 22:49:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9913: 1 episodes +[05/27 22:49:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:49:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:49:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9913 +[05/27 22:49:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9913 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 22:49:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9913 +[05/27 22:49:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9913: 0/1 successful episodes +[05/27 22:49:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9955 (index 114/115) +[05/27 22:49:50 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:49:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 22:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene +[05/27 22:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene +Goal: place sharp knife next to blue vintage car +[2026-05-27 22:51:17,027] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 23:04:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9955 episode 0 object objaknife_367ef0c28acf4aaa84fc290f36414797_1_0_2 completed with success=False +[05/27 23:04:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 23:04:47 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene +[05/27 23:04:47 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene +Goal: place ornate golden tiara with blue gemstones next to alarmclock +[2026-05-27 23:05:49,745] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 23:06:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 23:17:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 9955 episode 1 object objatiara_019c5ddf853e4618a686feeb7c70cb3f_1_0_5 completed with success=False +[05/27 23:17:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9955: 2 episodes +[05/27 23:17:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 23:17:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 23:17:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 23:17:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 23:17:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955 +[05/27 23:17:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9955 in 5.60s (batch: 5.43s, save: 0.17s) +[05/27 23:17:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9955 +[05/27 23:17:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9955: 0/2 successful episodes +[05/27 23:17:58 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 23:17:59 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 23:17:59 INFO pipeline.py:1499] Success count: 3, Total count: 119 +[05/27 23:17:59 INFO pipeline.py:1500] Success rate: 2.52% +Combined 119 episodes from 115 files → /tmp/tmpcahm8hfq.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv at-end: 2.52% | oracle: 2.52% of 119 episodes +[2026-05-27 23:18:14,437] INFO MolmoSpaces simulator eval finished: success=3/119 rate=0.0252 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval +[2026-05-27 23:18:14,438] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..45bccdfcc0d5c985799bc2ec704742c2581caa91 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..a359cb1127e140c8728e5deb8c363cd04ca38726 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log @@ -0,0 +1,537 @@ +05/26 12:05:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 12:05:16 INFO: Starting house-by-house rollout of 121 houses with 2 episodes each (242 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 12:05:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [30, + 55, + 180, + 320, + 410, + 491, + 550, + 608, + 656, + 720, + 763, + 827, + 902, + 1015, + 1113, + 1140, + 1208, + 1280, + 1351, + 1426, + 1572, + 1695, + 1749, + 1828, + 1930, + 2032, + 2109, + 2232, + 2342, + 2458, + 2498, + 2634, + 2767, + 2843, + 2922, + 3043, + 3148, + 3239, + 3283, + 3368, + 3416, + 3514, + 3588, + 3718, + 3759, + 3900, + 3991, + 4028, + 4115, + 4198, + 4266, + 4306, + 4385, + 4476, + 4577, + 4654, + 4692, + 4766, + 4863, + 4929, + 5015, + 5130, + 5148, + 5186, + 5288, + 5445, + 5523, + 5596, + 5652, + 5755, + 5867, + 5914, + 6011, + 6100, + 6170, + 6250, + 6293, + 6378, + 6430, + 6533, + 6672, + 6755, + 6858, + 6934, + 6995, + 7065, + 7148, + 7230, + 7333, + 7347, + 7363, + 7440, + 7504, + 7625, + 7740, + 7841, + 7923, + 7997, + 8098, + 8183, + 8247, + 8326, + 8402, + 8481, + 8562, + 8689, + 8767, + 8857, + 8922, + 8993, + 9054, + 9112, + 9173, + 9279, + 9343, + 9476, + 9522, + 9603, + 9662, + 9764, + 9915], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 30 (index 0/121) [pipeline.py: 473] +05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 30 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 12:05:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_30_ceiling.xml [task_sampler.py: 797] +05/26 12:05:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=30, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:05:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:05:33 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/26 12:05:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:05:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:05:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:05:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:05:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:05:34 INFO: [Worker 0] Sampled task 'Pick up the yellow origami paper crane and place it next to the gray camouflage bicycle helmet with vents' [task_sampler.py: 1136] +05/26 12:05:34 INFO: [Worker 0] Worker 0 house 30 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:05:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 12:05:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 12:24:40 INFO: [Worker 0] Worker 0 house 30 episode 0 object objaorigamicrane_64f4a0b158774b10a1817b689df959e9_2_0_2 completed with success=False [pipeline.py: 1114] +05/26 12:24:51 INFO: [Worker 0] Batching and saving trajectory data for house_30: 1 episodes [pipeline.py: 233] +05/26 12:24:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 12:24:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 12:24:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_30 [save_utils.py: 703] +05/26 12:24:58 INFO: [Worker 0] Successfully saved trajectory data for house_30 in 7.67s (batch: 7.53s, save: 0.14s) [pipeline.py: 280] +05/26 12:25:00 WARNING: [Worker 0] No trajectory data to save for house_30 [pipeline.py: 229] +05/26 12:25:00 INFO: [Worker 0] Worker 0 completed house 30: 0/1 successful episodes [pipeline.py: 1243] +05/26 12:25:00 INFO: [Worker 0] Worker 0 starting house 55 (index 1/121) [pipeline.py: 473] +05/26 12:25:00 INFO: [Worker 0] Loaded 1 episodes for house 55 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 12:25:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:25:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_55_ceiling.xml [task_sampler.py: 797] +05/26 12:25:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=55, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:25:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:25:07 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/26 12:25:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:25:07 INFO: [Worker 0] Sampled task 'Pick up the black visor cap with colorful letters and place it next to the sleek dark gray laptop' [task_sampler.py: 1136] +05/26 12:25:07 INFO: [Worker 0] Worker 0 house 55 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:25:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 12:31:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 13:12:01 INFO: [Worker 0] Worker 0 house 55 episode 0 object objavisorcap_aeb789836f494b2a9ca94b97d0fef8dc_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 13:12:12 INFO: [Worker 0] Batching and saving trajectory data for house_55: 1 episodes [pipeline.py: 233] +05/26 13:12:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 13:12:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 13:12:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_55 [save_utils.py: 703] +05/26 13:12:21 INFO: [Worker 0] Successfully saved trajectory data for house_55 in 8.61s (batch: 8.34s, save: 0.27s) [pipeline.py: 280] +05/26 13:12:23 WARNING: [Worker 0] No trajectory data to save for house_55 [pipeline.py: 229] +05/26 13:12:23 INFO: [Worker 0] Worker 0 completed house 55: 0/1 successful episodes [pipeline.py: 1243] +05/26 13:12:23 INFO: [Worker 0] Worker 0 starting house 180 (index 2/121) [pipeline.py: 473] +05/26 13:12:23 INFO: [Worker 0] Loaded 1 episodes for house 180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 13:12:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 13:12:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_180_ceiling.xml [task_sampler.py: 797] +05/26 13:12:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=180, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 13:12:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 13:12:37 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/26 13:12:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 13:12:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 13:12:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 13:12:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 13:12:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 13:12:38 INFO: [Worker 0] Sampled task 'Pick up the heavy-duty ratcheting pipe cutter tool and place it next to the modeltank' [task_sampler.py: 1136] +05/26 13:12:38 INFO: [Worker 0] Worker 0 house 180 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 13:12:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 13:12:38 WARNING: [Worker 0] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene [object_manager.py: 1238] +05/26 13:12:38 WARNING: [Worker 0] Could not find object objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_5 in scene [object_manager.py: 1238] +05/26 13:12:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 14:24:51 INFO: [Worker 0] Worker 0 house 180 episode 0 object objapipecutter_50b88a2361374aa3a8f8fec1447bb93b_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 14:25:01 INFO: [Worker 0] Batching and saving trajectory data for house_180: 1 episodes [pipeline.py: 233] +05/26 14:25:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 14:25:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 14:25:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_180 [save_utils.py: 703] +05/26 14:25:08 INFO: [Worker 0] Successfully saved trajectory data for house_180 in 7.01s (batch: 6.59s, save: 0.42s) [pipeline.py: 280] +05/26 14:25:11 WARNING: [Worker 0] No trajectory data to save for house_180 [pipeline.py: 229] +05/26 14:25:11 INFO: [Worker 0] Worker 0 completed house 180: 0/1 successful episodes [pipeline.py: 1243] +05/26 14:25:11 INFO: [Worker 0] Worker 0 starting house 320 (index 3/121) [pipeline.py: 473] +05/26 14:25:11 INFO: [Worker 0] Loaded 1 episodes for house 320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 14:25:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 14:25:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_320_ceiling.xml [task_sampler.py: 797] +05/26 14:25:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=320, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 14:25:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 14:25:27 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/26 14:25:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 14:25:28 INFO: [Worker 0] Sampled task 'Pick up the ammo and place it next to the glossy red tomato with stem' [task_sampler.py: 1136] +05/26 14:25:28 INFO: [Worker 0] Worker 0 house 320 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 14:25:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 15:26:46 INFO: [Worker 0] Worker 0 house 320 episode 0 object objabulletcartridge_b6a4e3f1ce034204abb62d92e2591bea_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 15:26:55 INFO: [Worker 0] Batching and saving trajectory data for house_320: 1 episodes [pipeline.py: 233] +05/26 15:26:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 15:27:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 15:27:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_320 [save_utils.py: 703] +05/26 15:27:01 INFO: [Worker 0] Successfully saved trajectory data for house_320 in 6.48s (batch: 6.14s, save: 0.35s) [pipeline.py: 280] +05/26 15:27:03 WARNING: [Worker 0] No trajectory data to save for house_320 [pipeline.py: 229] +05/26 15:27:03 INFO: [Worker 0] Worker 0 completed house 320: 0/1 successful episodes [pipeline.py: 1243] +05/26 15:27:03 INFO: [Worker 0] Worker 0 starting house 410 (index 4/121) [pipeline.py: 473] +05/26 15:27:03 INFO: [Worker 0] Loaded 1 episodes for house 410 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 15:27:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 15:27:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_410_ceiling.xml [task_sampler.py: 797] +05/26 15:27:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=410, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 15:27:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 15:27:09 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/26 15:27:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 15:27:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 15:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 15:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 15:27:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 15:27:09 INFO: [Worker 0] Sampled task 'Pick up the cream candle in blue holder and place it next to the gray laptop with keyboard' [task_sampler.py: 1136] +05/26 15:27:09 INFO: [Worker 0] Worker 0 house 410 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 15:27:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 15:32:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 16:00:37 INFO: [Worker 0] Worker 0 house 410 episode 0 object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 16:00:48 INFO: [Worker 0] Batching and saving trajectory data for house_410: 1 episodes [pipeline.py: 233] +05/26 16:00:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 16:00:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 16:00:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_410 [save_utils.py: 703] +05/26 16:00:53 INFO: [Worker 0] Successfully saved trajectory data for house_410 in 5.79s (batch: 5.64s, save: 0.15s) [pipeline.py: 280] +05/26 16:00:55 WARNING: [Worker 0] No trajectory data to save for house_410 [pipeline.py: 229] +05/26 16:00:55 INFO: [Worker 0] Worker 0 completed house 410: 0/1 successful episodes [pipeline.py: 1243] +05/26 16:00:55 INFO: [Worker 0] Worker 0 starting house 491 (index 5/121) [pipeline.py: 473] +05/26 16:00:55 INFO: [Worker 0] Loaded 1 episodes for house 491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 16:00:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 16:01:10 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 16:01:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_491_ceiling.xml [task_sampler.py: 797] +05/26 16:01:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=491, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 16:01:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 16:01:21 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects [json_eval_task_sampler.py: 686] +05/26 16:01:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 16:01:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 16:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 16:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 16:01:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 16:01:21 INFO: [Worker 0] Sampled task 'Pick up the glossy dark statue of hand and place it next to the soapdispenser' [task_sampler.py: 1136] +05/26 16:01:21 INFO: [Worker 0] Worker 0 house 491 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 16:01:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 16:01:22 WARNING: [Worker 0] Could not find object lettuce_d45ddf7e155b062eff2e56b5c451ed7e_1_0_2 in scene [object_manager.py: 1238] +05/26 16:01:22 WARNING: [Worker 0] Could not find object objasyringe_9383ee8738954d21b35962675c11fe84_1_0_5 in scene [object_manager.py: 1238] +05/26 16:01:22 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene [object_manager.py: 1238] +05/26 16:07:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 16:17:00 INFO: [Worker 0] Worker 0 house 491 episode 0 object statue_1792843e3d4f46b56db17d18b4c1ab2c_1_0_2 completed with success=True [pipeline.py: 1114] +05/26 16:17:09 INFO: [Worker 0] Batching and saving trajectory data for house_491: 1 episodes [pipeline.py: 233] +05/26 16:17:09 INFO: [Worker 0] Preparing episode data: 68 timesteps [save_utils.py: 284] +05/26 16:17:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 16:17:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_491 [save_utils.py: 703] +05/26 16:17:16 INFO: [Worker 0] Successfully saved trajectory data for house_491 in 7.21s (batch: 7.09s, save: 0.13s) [pipeline.py: 280] +05/26 16:17:19 WARNING: [Worker 0] No trajectory data to save for house_491 [pipeline.py: 229] +05/26 16:17:19 INFO: [Worker 0] Worker 0 completed house 491: 1/1 successful episodes [pipeline.py: 1243] +05/26 16:17:19 INFO: [Worker 0] Worker 0 starting house 550 (index 6/121) [pipeline.py: 473] +05/26 16:17:19 INFO: [Worker 0] Loaded 1 episodes for house 550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 16:17:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 16:17:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_550_ceiling.xml [task_sampler.py: 797] +05/26 16:17:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 16:17:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 16:17:51 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/26 16:17:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 16:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 16:17:51 INFO: [Worker 0] Sampled task 'Pick up the red party hat with pom-pom and place it next to the dark gray keypad with numbers' [task_sampler.py: 1136] +05/26 16:17:51 INFO: [Worker 0] Worker 0 house 550 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 16:17:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 16:23:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 17:37:46 INFO: [Worker 0] Worker 0 house 550 episode 0 object objapartyhat_bf59a4f1a65647319a28a0ba170db992_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 17:37:54 INFO: [Worker 0] Batching and saving trajectory data for house_550: 1 episodes [pipeline.py: 233] +05/26 17:37:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 17:37:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 17:37:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_550 [save_utils.py: 703] +05/26 17:37:59 INFO: [Worker 0] Successfully saved trajectory data for house_550 in 5.05s (batch: 4.74s, save: 0.31s) [pipeline.py: 280] +05/26 17:38:01 WARNING: [Worker 0] No trajectory data to save for house_550 [pipeline.py: 229] +05/26 17:38:01 INFO: [Worker 0] Worker 0 completed house 550: 0/1 successful episodes [pipeline.py: 1243] +05/26 17:38:01 INFO: [Worker 0] Worker 0 starting house 608 (index 7/121) [pipeline.py: 473] +05/26 17:38:01 INFO: [Worker 0] Loaded 1 episodes for house 608 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 17:38:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 17:38:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_608_ceiling.xml [task_sampler.py: 797] +05/26 17:38:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=608, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 17:38:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 17:38:35 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/26 17:38:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 17:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 17:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 17:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 17:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 17:38:35 INFO: [Worker 0] Sampled task 'Pick up the plastic art and place it next to the black glossy fish with forked tail' [task_sampler.py: 1136] +05/26 17:38:35 INFO: [Worker 0] Worker 0 house 608 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 17:38:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 17:44:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 18:56:22 INFO: [Worker 0] Worker 0 house 608 episode 0 object objawallrelief_c342f42a8dac41b19cb6d017ab19906b_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 18:56:31 INFO: [Worker 0] Batching and saving trajectory data for house_608: 1 episodes [pipeline.py: 233] +05/26 18:56:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 18:56:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 18:56:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_608 [save_utils.py: 703] +05/26 18:56:37 INFO: [Worker 0] Successfully saved trajectory data for house_608 in 5.95s (batch: 5.57s, save: 0.38s) [pipeline.py: 280] +05/26 18:56:39 WARNING: [Worker 0] No trajectory data to save for house_608 [pipeline.py: 229] +05/26 18:56:39 INFO: [Worker 0] Worker 0 completed house 608: 0/1 successful episodes [pipeline.py: 1243] +05/26 18:56:39 INFO: [Worker 0] Worker 0 starting house 656 (index 8/121) [pipeline.py: 473] +05/26 18:56:39 INFO: [Worker 0] Loaded 1 episodes for house 656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 18:56:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 18:57:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_656_ceiling.xml [task_sampler.py: 797] +05/26 18:57:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=656, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 18:57:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 18:57:11 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/26 18:57:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 18:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 18:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 18:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 18:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 18:57:11 INFO: [Worker 0] Sampled task 'Pick up the dark nhl pencilcase and place it next to the simple light brown ceramic bowl' [task_sampler.py: 1136] +05/26 18:57:11 INFO: [Worker 0] Worker 0 house 656 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 18:57:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 18:57:12 WARNING: [Worker 0] Could not find object objacanvas_3ab20a02d16a492e82f8b7691cf8dd22_1_0_2 in scene [object_manager.py: 1238] +05/26 19:02:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 19:22:52 ERROR: Uncaught exception: [mp_logging.py: 268] +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in + raise SystemExit(main()) + ^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main + results = run_evaluation( + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation + success_count, total_count = runner.run(preloaded_policy=runner_policy) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run + house_processing_worker( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker + runner_class.process_single_house( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout + observation, reward, terminal, truncated, infos = task.step(action_cmd) + ^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step + observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 196, in get_and_cache_all_step_information + observation = self.get_observations() + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 182, in get_observations + env_obs = self._sensor_suite.get_observations( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 111, in get_observations + return { + ^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 112, in + uuid: sensor.get_observation(env=env, task=task, **kwargs) # type: ignore + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/sensors.py", line 638, in get_observation + info = task.get_info()[batch_index] + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 138, in get_info + r_sup_p = om.approximate_supporting_geoms(place_receptacle.body_id, b2g) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms + bpoly, bz, bt = get_body_box(body) + ^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box + c, e = body_aabb(self.model, self.data, bid) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb + return geom_aabb(model, data, geoms) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb + mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 117, in mesh_aabb + aabb_max = np.max(vertices, axis=0) + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2810, in max + return _wrapreduction(a, np.maximum, 'max', axis, None, out, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 88, in _wrapreduction + return ufunc.reduce(obj, axis, dtype, out, **passkwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +KeyboardInterrupt diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..474b60d92bee07be71e232b351f371628bb5a863 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log @@ -0,0 +1,3106 @@ +05/26 19:48:15 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 19:48:15 INFO: Starting house-by-house rollout of 113 houses with 2 episodes each (226 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 19:48:15 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 19:48:15 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [656, + 720, + 763, + 827, + 902, + 1015, + 1113, + 1140, + 1208, + 1280, + 1351, + 1426, + 1572, + 1695, + 1749, + 1828, + 1930, + 2032, + 2109, + 2232, + 2342, + 2458, + 2498, + 2634, + 2767, + 2843, + 2922, + 3043, + 3148, + 3239, + 3283, + 3368, + 3416, + 3514, + 3588, + 3718, + 3759, + 3900, + 3991, + 4028, + 4115, + 4198, + 4266, + 4306, + 4385, + 4476, + 4577, + 4654, + 4692, + 4766, + 4863, + 4929, + 5015, + 5130, + 5148, + 5186, + 5288, + 5445, + 5523, + 5596, + 5652, + 5755, + 5867, + 5914, + 6011, + 6100, + 6170, + 6250, + 6293, + 6378, + 6430, + 6533, + 6672, + 6755, + 6858, + 6934, + 6995, + 7065, + 7148, + 7230, + 7333, + 7347, + 7363, + 7440, + 7504, + 7625, + 7740, + 7841, + 7923, + 7997, + 8098, + 8183, + 8247, + 8326, + 8402, + 8481, + 8562, + 8689, + 8767, + 8857, + 8922, + 8993, + 9054, + 9112, + 9173, + 9279, + 9343, + 9476, + 9522, + 9603, + 9662, + 9764, + 9915], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 19:48:15 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 19:48:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:15 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 19:48:15 INFO: [Worker 0] Worker 0 starting house 656 (index 0/113) [pipeline.py: 473] +05/26 19:48:15 INFO: [Worker 0] Loaded 1 episodes for house 656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 19:48:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:30 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 19:48:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_656_ceiling.xml [task_sampler.py: 797] +05/26 19:48:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=656, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:48:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:48:33 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/26 19:48:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:48:33 INFO: [Worker 0] Sampled task 'Pick up the dark nhl pencilcase and place it next to the simple light brown ceramic bowl' [task_sampler.py: 1136] +05/26 19:48:33 INFO: [Worker 0] Worker 0 house 656 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:48:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:48:33 WARNING: [Worker 0] Could not find object objacanvas_3ab20a02d16a492e82f8b7691cf8dd22_1_0_2 in scene [object_manager.py: 1238] +05/26 19:48:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 19:58:59 INFO: [Worker 0] Worker 0 house 656 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 19:59:03 INFO: [Worker 0] Batching and saving trajectory data for house_656: 1 episodes [pipeline.py: 233] +05/26 19:59:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 19:59:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 19:59:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_656 [save_utils.py: 703] +05/26 19:59:05 INFO: [Worker 0] Successfully saved trajectory data for house_656 in 2.49s (batch: 2.40s, save: 0.09s) [pipeline.py: 280] +05/26 19:59:06 WARNING: [Worker 0] No trajectory data to save for house_656 [pipeline.py: 229] +05/26 19:59:06 INFO: [Worker 0] Worker 0 completed house 656: 0/1 successful episodes [pipeline.py: 1243] +05/26 19:59:06 INFO: [Worker 0] Worker 0 starting house 720 (index 1/113) [pipeline.py: 473] +05/26 19:59:06 INFO: [Worker 0] Loaded 1 episodes for house 720 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 19:59:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:59:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_720_ceiling.xml [task_sampler.py: 797] +05/26 19:59:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=720, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:59:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:59:19 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/26 19:59:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:59:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:59:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:59:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:59:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:59:19 INFO: [Worker 0] Sampled task 'Pick up the cellphone and place it next to the bronze full-figured statue' [task_sampler.py: 1136] +05/26 19:59:19 INFO: [Worker 0] Worker 0 house 720 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:59:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:00:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:14:47 INFO: [Worker 0] Worker 0 house 720 episode 0 object objamobilephone_89cc4e542641469586dcd9274fc7fc61_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 20:14:50 INFO: [Worker 0] Batching and saving trajectory data for house_720: 1 episodes [pipeline.py: 233] +05/26 20:14:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:14:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:14:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_720 [save_utils.py: 703] +05/26 20:14:53 INFO: [Worker 0] Successfully saved trajectory data for house_720 in 2.67s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/26 20:14:54 WARNING: [Worker 0] No trajectory data to save for house_720 [pipeline.py: 229] +05/26 20:14:54 INFO: [Worker 0] Worker 0 completed house 720: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:14:54 INFO: [Worker 0] Worker 0 starting house 763 (index 2/113) [pipeline.py: 473] +05/26 20:14:54 INFO: [Worker 0] Loaded 1 episodes for house 763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 20:14:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:15:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_763_ceiling.xml [task_sampler.py: 797] +05/26 20:15:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=763, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:15:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:15:00 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects [json_eval_task_sampler.py: 686] +05/26 20:15:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:15:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:15:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:15:01 INFO: [Worker 0] Sampled task 'Pick up the tall golden spike with base and place it next to the thick blue hardcover programming book' [task_sampler.py: 1136] +05/26 20:15:01 INFO: [Worker 0] Worker 0 house 763 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:15:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:16:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:20:56 INFO: [Worker 0] Worker 0 house 763 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 20:21:00 INFO: [Worker 0] Batching and saving trajectory data for house_763: 1 episodes [pipeline.py: 233] +05/26 20:21:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:21:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:21:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_763 [save_utils.py: 703] +05/26 20:21:02 INFO: [Worker 0] Successfully saved trajectory data for house_763 in 2.59s (batch: 2.50s, save: 0.08s) [pipeline.py: 280] +05/26 20:21:03 WARNING: [Worker 0] No trajectory data to save for house_763 [pipeline.py: 229] +05/26 20:21:03 INFO: [Worker 0] Worker 0 completed house 763: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:21:03 INFO: [Worker 0] Worker 0 starting house 827 (index 3/113) [pipeline.py: 473] +05/26 20:21:03 INFO: [Worker 0] Loaded 1 episodes for house 827 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 20:21:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:21:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_827_ceiling.xml [task_sampler.py: 797] +05/26 20:21:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=827, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:21:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:21:32 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/26 20:21:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:21:32 INFO: [Worker 0] Sampled task 'Pick up the black spherical bomb with fuse and place it next to the green spherical topiary' [task_sampler.py: 1136] +05/26 20:21:32 INFO: [Worker 0] Worker 0 house 827 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:21:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:23:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:35:01 INFO: [Worker 0] Worker 0 house 827 episode 0 object objabomb_dde8319900f34ee78b0cb7674d99d689_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 20:35:05 INFO: [Worker 0] Batching and saving trajectory data for house_827: 1 episodes [pipeline.py: 233] +05/26 20:35:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:35:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:35:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_827 [save_utils.py: 703] +05/26 20:35:07 INFO: [Worker 0] Successfully saved trajectory data for house_827 in 2.70s (batch: 2.60s, save: 0.10s) [pipeline.py: 280] +05/26 20:35:08 WARNING: [Worker 0] No trajectory data to save for house_827 [pipeline.py: 229] +05/26 20:35:08 INFO: [Worker 0] Worker 0 completed house 827: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:35:08 INFO: [Worker 0] Worker 0 starting house 902 (index 4/113) [pipeline.py: 473] +05/26 20:35:08 INFO: [Worker 0] Loaded 1 episodes for house 902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 20:35:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:35:24 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 20:35:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_902_ceiling.xml [task_sampler.py: 797] +05/26 20:35:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=902, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:35:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:35:27 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/26 20:35:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:35:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:35:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:35:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:35:27 INFO: [Worker 0] Sampled task 'Pick up the brown rusty cylindrical vintage oilcan and place it next to the large stainless steel pot' [task_sampler.py: 1136] +05/26 20:35:27 INFO: [Worker 0] Worker 0 house 902 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:35:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:35:27 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 20:37:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:46:30 INFO: [Worker 0] Worker 0 house 902 episode 0 object objaoilcan_933032bd54804ebc9b8cfd1c6a46a15e_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 20:46:34 INFO: [Worker 0] Batching and saving trajectory data for house_902: 1 episodes [pipeline.py: 233] +05/26 20:46:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:46:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:46:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_902 [save_utils.py: 703] +05/26 20:46:36 INFO: [Worker 0] Successfully saved trajectory data for house_902 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/26 20:46:37 WARNING: [Worker 0] No trajectory data to save for house_902 [pipeline.py: 229] +05/26 20:46:37 INFO: [Worker 0] Worker 0 completed house 902: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:46:37 INFO: [Worker 0] Worker 0 starting house 1015 (index 5/113) [pipeline.py: 473] +05/26 20:46:37 INFO: [Worker 0] Loaded 1 episodes for house 1015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 20:46:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:46:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1015_ceiling.xml [task_sampler.py: 797] +05/26 20:46:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1015, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:46:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:46:54 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/26 20:46:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:46:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:46:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:46:54 INFO: [Worker 0] Sampled task 'Pick up the ornate vintage brass bell and place it next to the white quilted pillow' [task_sampler.py: 1136] +05/26 20:46:54 INFO: [Worker 0] Worker 0 house 1015 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:46:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:46:54 WARNING: [Worker 0] Could not find object pillow_4b2c3143f409251db55cb5ac5dcb1f3c_2_0_6 in scene [object_manager.py: 1238] +05/26 20:46:54 WARNING: [Worker 0] Could not find object laptop_2a52cf5324d94d75c620c4f6f505fbec_1_0_6 in scene [object_manager.py: 1238] +05/26 20:46:54 WARNING: [Worker 0] Could not find object objadecorativekey_02f4ae923e5b4aa7bf0d338cf7423ef7_1_0_9 in scene [object_manager.py: 1238] +05/26 20:46:54 WARNING: [Worker 0] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_9 in scene [object_manager.py: 1238] +05/26 21:06:51 INFO: [Worker 0] Worker 0 house 1015 episode 0 object objadecorativebell_0e38f4e9fecb4dd49f7e4aa00fcc121d_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 21:06:54 INFO: [Worker 0] Batching and saving trajectory data for house_1015: 1 episodes [pipeline.py: 233] +05/26 21:06:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:06:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:06:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1015 [save_utils.py: 703] +05/26 21:06:57 INFO: [Worker 0] Successfully saved trajectory data for house_1015 in 2.50s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/26 21:06:58 WARNING: [Worker 0] No trajectory data to save for house_1015 [pipeline.py: 229] +05/26 21:06:58 INFO: [Worker 0] Worker 0 completed house 1015: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:06:58 INFO: [Worker 0] Worker 0 starting house 1113 (index 6/113) [pipeline.py: 473] +05/26 21:06:58 INFO: [Worker 0] Loaded 1 episodes for house 1113 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 21:06:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:07:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1113_ceiling.xml [task_sampler.py: 797] +05/26 21:07:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1113, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:07:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:07:30 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/26 21:07:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:07:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:07:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:07:30 INFO: [Worker 0] Sampled task 'Pick up the round stone weight with metal ring and place it next to the green plastic spray bottle' [task_sampler.py: 1136] +05/26 21:07:30 INFO: [Worker 0] Worker 0 house 1113 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:07:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:09:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:10:42 INFO: [Worker 0] Worker 0 house 1113 episode 0 object objaweight_fceabaa7a09d4072b6befd0625cb4031_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 21:10:46 INFO: [Worker 0] Batching and saving trajectory data for house_1113: 1 episodes [pipeline.py: 233] +05/26 21:10:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:10:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:10:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1113 [save_utils.py: 703] +05/26 21:10:49 INFO: [Worker 0] Successfully saved trajectory data for house_1113 in 2.70s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/26 21:10:49 WARNING: [Worker 0] No trajectory data to save for house_1113 [pipeline.py: 229] +05/26 21:10:49 INFO: [Worker 0] Worker 0 completed house 1113: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:10:49 INFO: [Worker 0] Worker 0 starting house 1140 (index 7/113) [pipeline.py: 473] +05/26 21:10:49 INFO: [Worker 0] Loaded 2 episodes for house 1140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 21:10:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:11:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1140_ceiling.xml [task_sampler.py: 797] +05/26 21:11:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1140, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:11:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:11:10 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/26 21:11:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:11:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:11:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:11:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:11:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:11:10 INFO: [Worker 0] Sampled task 'Pick up the green gemstone and place it next to the red spaceship' [task_sampler.py: 1136] +05/26 21:11:10 INFO: [Worker 0] Worker 0 house 1140 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 21:11:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:28:45 INFO: [Worker 0] Worker 0 house 1140 episode 0 object objagemstone_f465cd539c064a27ad4f7e57c84afb7c_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 21:28:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:28:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1140_ceiling.xml [task_sampler.py: 797] +05/26 21:28:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1140, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:28:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:28:53 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/26 21:28:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:28:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:28:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:28:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:28:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:28:53 INFO: [Worker 0] Sampled task 'Pick up the greek kylix and place it next to the small green house plant in pot' [task_sampler.py: 1136] +05/26 21:28:53 INFO: [Worker 0] Worker 0 house 1140 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 21:28:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:30:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:46:08 INFO: [Worker 0] Worker 0 house 1140 episode 1 object objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 21:46:12 INFO: [Worker 0] Batching and saving trajectory data for house_1140: 2 episodes [pipeline.py: 233] +05/26 21:46:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:46:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:46:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:46:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:46:17 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140 [save_utils.py: 703] +05/26 21:46:17 INFO: [Worker 0] Successfully saved trajectory data for house_1140 in 4.97s (batch: 4.81s, save: 0.16s) [pipeline.py: 280] +05/26 21:46:18 WARNING: [Worker 0] No trajectory data to save for house_1140 [pipeline.py: 229] +05/26 21:46:18 INFO: [Worker 0] Worker 0 completed house 1140: 0/2 successful episodes [pipeline.py: 1243] +05/26 21:46:18 INFO: [Worker 0] Worker 0 starting house 1208 (index 8/113) [pipeline.py: 473] +05/26 21:46:18 INFO: [Worker 0] Loaded 1 episodes for house 1208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 21:46:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:46:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1208_ceiling.xml [task_sampler.py: 797] +05/26 21:46:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1208, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:46:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:46:24 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/26 21:46:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:46:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:46:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:46:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:46:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:46:24 INFO: [Worker 0] Sampled task 'Pick up the ornate bronze bell with engravings and place it next to the soft white pillow with quilting' [task_sampler.py: 1136] +05/26 21:46:24 INFO: [Worker 0] Worker 0 house 1208 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:46:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:46:24 WARNING: [Worker 0] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene [object_manager.py: 1238] +05/26 21:47:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:03:28 INFO: [Worker 0] Worker 0 house 1208 episode 0 object objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 22:03:31 INFO: [Worker 0] Batching and saving trajectory data for house_1208: 1 episodes [pipeline.py: 233] +05/26 22:03:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:03:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:03:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1208 [save_utils.py: 703] +05/26 22:03:34 INFO: [Worker 0] Successfully saved trajectory data for house_1208 in 2.68s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/26 22:03:35 WARNING: [Worker 0] No trajectory data to save for house_1208 [pipeline.py: 229] +05/26 22:03:35 INFO: [Worker 0] Worker 0 completed house 1208: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:03:35 INFO: [Worker 0] Worker 0 starting house 1280 (index 9/113) [pipeline.py: 473] +05/26 22:03:35 INFO: [Worker 0] Loaded 1 episodes for house 1280 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 22:03:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:03:35 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 22:03:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1280_ceiling.xml [task_sampler.py: 797] +05/26 22:03:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1280, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:03:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:03:37 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/26 22:03:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:03:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:03:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:03:37 INFO: [Worker 0] Sampled task 'Pick up the glossy teal ceramic cat with patterns and place it next to the blue mushroom' [task_sampler.py: 1136] +05/26 22:03:37 INFO: [Worker 0] Worker 0 house 1280 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:03:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:03:37 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_2 in scene [object_manager.py: 1238] +05/26 22:05:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:13:10 INFO: [Worker 0] Worker 0 house 1280 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 22:13:13 INFO: [Worker 0] Batching and saving trajectory data for house_1280: 1 episodes [pipeline.py: 233] +05/26 22:13:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:13:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:13:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1280 [save_utils.py: 703] +05/26 22:13:16 INFO: [Worker 0] Successfully saved trajectory data for house_1280 in 2.57s (batch: 2.47s, save: 0.10s) [pipeline.py: 280] +05/26 22:13:16 WARNING: [Worker 0] No trajectory data to save for house_1280 [pipeline.py: 229] +05/26 22:13:16 INFO: [Worker 0] Worker 0 completed house 1280: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:13:16 INFO: [Worker 0] Worker 0 starting house 1351 (index 10/113) [pipeline.py: 473] +05/26 22:13:16 INFO: [Worker 0] Loaded 1 episodes for house 1351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 22:13:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:13:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1351_ceiling.xml [task_sampler.py: 797] +05/26 22:13:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1351, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:13:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:13:46 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/26 22:13:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:13:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:13:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:13:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:13:46 INFO: [Worker 0] Sampled task 'Pick up the ceramic jug and place it next to the tall dark cup with ridges base' [task_sampler.py: 1136] +05/26 22:13:46 INFO: [Worker 0] Worker 0 house 1351 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:13:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:15:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:21:07 INFO: [Worker 0] Worker 0 house 1351 episode 0 object objaceramicjug_4ce0f5ece3c7422c9ec23470cc38b088_1_0_8 completed with success=True [pipeline.py: 1114] +05/26 22:21:11 INFO: [Worker 0] Batching and saving trajectory data for house_1351: 1 episodes [pipeline.py: 233] +05/26 22:21:11 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 284] +05/26 22:21:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:21:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1351 [save_utils.py: 703] +05/26 22:21:13 INFO: [Worker 0] Successfully saved trajectory data for house_1351 in 2.44s (batch: 2.37s, save: 0.06s) [pipeline.py: 280] +05/26 22:21:14 WARNING: [Worker 0] No trajectory data to save for house_1351 [pipeline.py: 229] +05/26 22:21:14 INFO: [Worker 0] Worker 0 completed house 1351: 1/1 successful episodes [pipeline.py: 1243] +05/26 22:21:14 INFO: [Worker 0] Worker 0 starting house 1426 (index 11/113) [pipeline.py: 473] +05/26 22:21:14 INFO: [Worker 0] Loaded 1 episodes for house 1426 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 22:21:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:21:15 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 22:21:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1426_ceiling.xml [task_sampler.py: 797] +05/26 22:21:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1426, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:21:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:21:18 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/26 22:21:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:21:18 INFO: [Worker 0] Sampled task 'Pick up the push-button radio and place it next to the colored hardcover sketchbook' [task_sampler.py: 1136] +05/26 22:21:18 INFO: [Worker 0] Worker 0 house 1426 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:21:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:21:20 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene [object_manager.py: 1238] +05/26 22:21:20 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene [object_manager.py: 1238] +05/26 22:22:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:38:02 INFO: [Worker 0] Worker 0 house 1426 episode 0 object objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 22:38:06 INFO: [Worker 0] Batching and saving trajectory data for house_1426: 1 episodes [pipeline.py: 233] +05/26 22:38:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:38:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:38:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1426 [save_utils.py: 703] +05/26 22:38:09 INFO: [Worker 0] Successfully saved trajectory data for house_1426 in 2.63s (batch: 2.54s, save: 0.09s) [pipeline.py: 280] +05/26 22:38:09 WARNING: [Worker 0] No trajectory data to save for house_1426 [pipeline.py: 229] +05/26 22:38:09 INFO: [Worker 0] Worker 0 completed house 1426: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:38:09 INFO: [Worker 0] Worker 0 starting house 1572 (index 12/113) [pipeline.py: 473] +05/26 22:38:09 INFO: [Worker 0] Loaded 1 episodes for house 1572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 22:38:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:38:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1572_ceiling.xml [task_sampler.py: 797] +05/26 22:38:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1572, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:38:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:38:12 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/26 22:38:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:38:12 INFO: [Worker 0] Sampled task 'Pick up the compass and place it next to the brown cardboard box' [task_sampler.py: 1136] +05/26 22:38:12 INFO: [Worker 0] Worker 0 house 1572 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:38:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:39:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:46:31 INFO: [Worker 0] Worker 0 house 1572 episode 0 object objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 22:46:34 INFO: [Worker 0] Batching and saving trajectory data for house_1572: 1 episodes [pipeline.py: 233] +05/26 22:46:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:46:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:46:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1572 [save_utils.py: 703] +05/26 22:46:37 INFO: [Worker 0] Successfully saved trajectory data for house_1572 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/26 22:46:37 WARNING: [Worker 0] No trajectory data to save for house_1572 [pipeline.py: 229] +05/26 22:46:37 INFO: [Worker 0] Worker 0 completed house 1572: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:46:37 INFO: [Worker 0] Worker 0 starting house 1695 (index 13/113) [pipeline.py: 473] +05/26 22:46:37 INFO: [Worker 0] Loaded 1 episodes for house 1695 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 22:46:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:46:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1695_ceiling.xml [task_sampler.py: 797] +05/26 22:46:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1695, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:46:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:46:42 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/26 22:46:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:46:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:46:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:46:42 INFO: [Worker 0] Sampled task 'Pick up the breadstuff and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/26 22:46:42 INFO: [Worker 0] Worker 0 house 1695 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:46:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:46:42 WARNING: [Worker 0] Could not find object objaminiaturecastletower_a08a00d32f694f219170f6867cbc7d46_1_0_5 in scene [object_manager.py: 1238] +05/26 22:46:42 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/26 22:48:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:56:27 INFO: [Worker 0] Worker 0 house 1695 episode 0 object objapastry_02f82d69871941859c7cd594bb3fc0b4_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 22:56:30 INFO: [Worker 0] Batching and saving trajectory data for house_1695: 1 episodes [pipeline.py: 233] +05/26 22:56:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:56:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:56:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1695 [save_utils.py: 703] +05/26 22:56:33 INFO: [Worker 0] Successfully saved trajectory data for house_1695 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/26 22:56:33 WARNING: [Worker 0] No trajectory data to save for house_1695 [pipeline.py: 229] +05/26 22:56:33 INFO: [Worker 0] Worker 0 completed house 1695: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:56:33 INFO: [Worker 0] Worker 0 starting house 1749 (index 14/113) [pipeline.py: 473] +05/26 22:56:33 INFO: [Worker 0] Loaded 1 episodes for house 1749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 22:56:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:56:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1749_ceiling.xml [task_sampler.py: 797] +05/26 22:56:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1749, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:56:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:56:45 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/26 22:56:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:56:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:56:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:56:46 INFO: [Worker 0] Sampled task 'Pick up the wooden gavel with decorative cord and place it next to the ancient fossilized skull' [task_sampler.py: 1136] +05/26 22:56:46 INFO: [Worker 0] Worker 0 house 1749 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:56:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:07:50 INFO: [Worker 0] Worker 0 house 1749 episode 0 object objagavel_8bdbe3dbca7b49b488026595937f5009_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 23:07:53 INFO: [Worker 0] Batching and saving trajectory data for house_1749: 1 episodes [pipeline.py: 233] +05/26 23:07:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:07:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:07:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1749 [save_utils.py: 703] +05/26 23:07:56 INFO: [Worker 0] Successfully saved trajectory data for house_1749 in 2.60s (batch: 2.51s, save: 0.09s) [pipeline.py: 280] +05/26 23:07:56 WARNING: [Worker 0] No trajectory data to save for house_1749 [pipeline.py: 229] +05/26 23:07:56 INFO: [Worker 0] Worker 0 completed house 1749: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:07:56 INFO: [Worker 0] Worker 0 starting house 1828 (index 15/113) [pipeline.py: 473] +05/26 23:07:56 INFO: [Worker 0] Loaded 1 episodes for house 1828 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 23:07:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:08:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1828_ceiling.xml [task_sampler.py: 797] +05/26 23:08:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1828, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:08:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:08:26 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/26 23:08:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:08:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:08:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:08:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:08:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:08:26 INFO: [Worker 0] Sampled task 'Pick up the mounting bracket and place it next to the shallow white square bowl' [task_sampler.py: 1136] +05/26 23:08:26 INFO: [Worker 0] Worker 0 house 1828 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:08:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:10:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:22:24 INFO: [Worker 0] Worker 0 house 1828 episode 0 object objamountingbracket_61d93824512b4446be5195ab592ae138_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 23:22:28 INFO: [Worker 0] Batching and saving trajectory data for house_1828: 1 episodes [pipeline.py: 233] +05/26 23:22:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:22:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:22:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1828 [save_utils.py: 703] +05/26 23:22:31 INFO: [Worker 0] Successfully saved trajectory data for house_1828 in 2.54s (batch: 2.45s, save: 0.09s) [pipeline.py: 280] +05/26 23:22:31 WARNING: [Worker 0] No trajectory data to save for house_1828 [pipeline.py: 229] +05/26 23:22:31 INFO: [Worker 0] Worker 0 completed house 1828: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:22:31 INFO: [Worker 0] Worker 0 starting house 1930 (index 16/113) [pipeline.py: 473] +05/26 23:22:31 INFO: [Worker 0] Loaded 1 episodes for house 1930 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 23:22:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:22:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1930_ceiling.xml [task_sampler.py: 797] +05/26 23:22:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1930, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:22:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:22:34 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/26 23:22:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:22:34 INFO: [Worker 0] Sampled task 'Pick up the red apple and place it next to the red rectangular lucky charms box' [task_sampler.py: 1136] +05/26 23:22:34 INFO: [Worker 0] Worker 0 house 1930 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:22:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:24:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:34:21 INFO: [Worker 0] Worker 0 house 1930 episode 0 object apple_3076d24521ee5e895156b37b1b9fb130_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 23:34:25 INFO: [Worker 0] Batching and saving trajectory data for house_1930: 1 episodes [pipeline.py: 233] +05/26 23:34:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:34:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:34:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1930 [save_utils.py: 703] +05/26 23:34:27 INFO: [Worker 0] Successfully saved trajectory data for house_1930 in 2.51s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/26 23:34:28 WARNING: [Worker 0] No trajectory data to save for house_1930 [pipeline.py: 229] +05/26 23:34:28 INFO: [Worker 0] Worker 0 completed house 1930: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:34:28 INFO: [Worker 0] Worker 0 starting house 2032 (index 17/113) [pipeline.py: 473] +05/26 23:34:28 INFO: [Worker 0] Loaded 1 episodes for house 2032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 23:34:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:38:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2032_ceiling.xml [task_sampler.py: 797] +05/26 23:38:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2032, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:38:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:38:01 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/26 23:38:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:38:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:38:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:38:01 INFO: [Worker 0] Sampled task 'Pick up the red lighthouse with framework and place it next to the purple spray bottle with nozzle' [task_sampler.py: 1136] +05/26 23:38:01 INFO: [Worker 0] Worker 0 house 2032 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:38:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:55:36 INFO: [Worker 0] Worker 0 house 2032 episode 0 object objalighthouse_38f4ca24b0e94683b7becccda1b8f9ca_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 23:55:40 INFO: [Worker 0] Batching and saving trajectory data for house_2032: 1 episodes [pipeline.py: 233] +05/26 23:55:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:55:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:55:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2032 [save_utils.py: 703] +05/26 23:55:42 INFO: [Worker 0] Successfully saved trajectory data for house_2032 in 2.55s (batch: 2.46s, save: 0.09s) [pipeline.py: 280] +05/26 23:55:43 WARNING: [Worker 0] No trajectory data to save for house_2032 [pipeline.py: 229] +05/26 23:55:43 INFO: [Worker 0] Worker 0 completed house 2032: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:55:43 INFO: [Worker 0] Worker 0 starting house 2109 (index 18/113) [pipeline.py: 473] +05/26 23:55:43 INFO: [Worker 0] Loaded 1 episodes for house 2109 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 23:55:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:02:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2109_ceiling.xml [task_sampler.py: 797] +05/27 00:02:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2109, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:02:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:02:26 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/27 00:02:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:02:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:02:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:02:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:02:26 INFO: [Worker 0] Sampled task 'Pick up the wood chisel and place it next to the bronze female statue' [task_sampler.py: 1136] +05/27 00:02:26 INFO: [Worker 0] Worker 0 house 2109 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:02:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:04:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:17:03 INFO: [Worker 0] Worker 0 house 2109 episode 0 object objachisel_6938a8ad91724ed29b96ef4b7beb5f23_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 00:17:06 INFO: [Worker 0] Batching and saving trajectory data for house_2109: 1 episodes [pipeline.py: 233] +05/27 00:17:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:17:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:17:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2109 [save_utils.py: 703] +05/27 00:17:09 INFO: [Worker 0] Successfully saved trajectory data for house_2109 in 2.52s (batch: 2.43s, save: 0.09s) [pipeline.py: 280] +05/27 00:17:09 WARNING: [Worker 0] No trajectory data to save for house_2109 [pipeline.py: 229] +05/27 00:17:09 INFO: [Worker 0] Worker 0 completed house 2109: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:17:09 INFO: [Worker 0] Worker 0 starting house 2232 (index 19/113) [pipeline.py: 473] +05/27 00:17:09 INFO: [Worker 0] Loaded 1 episodes for house 2232 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 00:17:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:19:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2232_ceiling.xml [task_sampler.py: 797] +05/27 00:19:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2232, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:19:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:19:34 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/27 00:19:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:19:34 INFO: [Worker 0] Sampled task 'Pick up the small brown shrew figure and place it next to the armour plate' [task_sampler.py: 1136] +05/27 00:19:34 INFO: [Worker 0] Worker 0 house 2232 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:19:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:19:35 WARNING: [Worker 0] Could not find object objapaintbucket_9dec0ba6f4b9475a838f3081c10943fd_1_0_2 in scene [object_manager.py: 1238] +05/27 00:19:35 WARNING: [Worker 0] Could not find object cellulartelephone_7e064d39aa61ae3983505d5955fcd947_1_0_2 in scene [object_manager.py: 1238] +05/27 00:21:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:30:30 INFO: [Worker 0] Worker 0 house 2232 episode 0 object objaanimalsculpture_1dc0a7826fdd4279b8041fab6c370d07_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 00:30:34 INFO: [Worker 0] Batching and saving trajectory data for house_2232: 1 episodes [pipeline.py: 233] +05/27 00:30:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:30:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:30:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2232 [save_utils.py: 703] +05/27 00:30:36 INFO: [Worker 0] Successfully saved trajectory data for house_2232 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 00:30:37 WARNING: [Worker 0] No trajectory data to save for house_2232 [pipeline.py: 229] +05/27 00:30:37 INFO: [Worker 0] Worker 0 completed house 2232: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:30:37 INFO: [Worker 0] Worker 0 starting house 2342 (index 20/113) [pipeline.py: 473] +05/27 00:30:37 INFO: [Worker 0] Loaded 1 episodes for house 2342 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 00:30:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:30:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2342_ceiling.xml [task_sampler.py: 797] +05/27 00:30:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2342, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:30:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:30:39 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/27 00:30:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:30:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:30:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:30:39 INFO: [Worker 0] Sampled task 'Pick up the brown spotted ceramic animal vessel and place it next to the spray bottle' [task_sampler.py: 1136] +05/27 00:30:39 INFO: [Worker 0] Worker 0 house 2342 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:30:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:32:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:41:31 INFO: [Worker 0] Worker 0 house 2342 episode 0 object objaceramicvessel_c292b6f0b87b4272ba67504efdda2958_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 00:41:34 INFO: [Worker 0] Batching and saving trajectory data for house_2342: 1 episodes [pipeline.py: 233] +05/27 00:41:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:41:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:41:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2342 [save_utils.py: 703] +05/27 00:41:37 INFO: [Worker 0] Successfully saved trajectory data for house_2342 in 2.65s (batch: 2.56s, save: 0.10s) [pipeline.py: 280] +05/27 00:41:38 WARNING: [Worker 0] No trajectory data to save for house_2342 [pipeline.py: 229] +05/27 00:41:38 INFO: [Worker 0] Worker 0 completed house 2342: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:41:38 INFO: [Worker 0] Worker 0 starting house 2458 (index 21/113) [pipeline.py: 473] +05/27 00:41:38 INFO: [Worker 0] Loaded 1 episodes for house 2458 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 00:41:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:42:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2458_ceiling.xml [task_sampler.py: 797] +05/27 00:42:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2458, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:42:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:42:20 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects [json_eval_task_sampler.py: 686] +05/27 00:42:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:42:20 INFO: [Worker 0] Sampled task 'Pick up the red pagoda pop-up card and place it next to the red spiky spherical virus model' [task_sampler.py: 1136] +05/27 00:42:20 INFO: [Worker 0] Worker 0 house 2458 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:42:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:42:23 WARNING: [Worker 0] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_9 in scene [object_manager.py: 1238] +05/27 00:42:23 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_9 in scene [object_manager.py: 1238] +05/27 01:02:36 INFO: [Worker 0] Worker 0 house 2458 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 01:02:39 INFO: [Worker 0] Batching and saving trajectory data for house_2458: 1 episodes [pipeline.py: 233] +05/27 01:02:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:02:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:02:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2458 [save_utils.py: 703] +05/27 01:02:42 INFO: [Worker 0] Successfully saved trajectory data for house_2458 in 2.52s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/27 01:02:42 WARNING: [Worker 0] No trajectory data to save for house_2458 [pipeline.py: 229] +05/27 01:02:42 INFO: [Worker 0] Worker 0 completed house 2458: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:02:42 INFO: [Worker 0] Worker 0 starting house 2498 (index 22/113) [pipeline.py: 473] +05/27 01:02:42 INFO: [Worker 0] Loaded 1 episodes for house 2498 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 01:02:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:04:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2498_ceiling.xml [task_sampler.py: 797] +05/27 01:04:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2498, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:04:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:04:55 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/27 01:04:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:04:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:04:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:04:55 INFO: [Worker 0] Sampled task 'Pick up the beige spatula and place it next to the smooth beige egg' [task_sampler.py: 1136] +05/27 01:04:55 INFO: [Worker 0] Worker 0 house 2498 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:04:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:04:55 WARNING: [Worker 0] Could not find object objahatchet_0dfc7c5654e945daac9bd0ab195b24ee_1_0_3 in scene [object_manager.py: 1238] +05/27 01:23:09 INFO: [Worker 0] Worker 0 house 2498 episode 0 object objaspatula_8208e17164a04672bfabc6152ff43e71_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:23:13 INFO: [Worker 0] Batching and saving trajectory data for house_2498: 1 episodes [pipeline.py: 233] +05/27 01:23:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:23:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:23:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2498 [save_utils.py: 703] +05/27 01:23:15 INFO: [Worker 0] Successfully saved trajectory data for house_2498 in 2.59s (batch: 2.50s, save: 0.09s) [pipeline.py: 280] +05/27 01:23:16 WARNING: [Worker 0] No trajectory data to save for house_2498 [pipeline.py: 229] +05/27 01:23:16 INFO: [Worker 0] Worker 0 completed house 2498: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:23:16 INFO: [Worker 0] Worker 0 starting house 2634 (index 23/113) [pipeline.py: 473] +05/27 01:23:16 INFO: [Worker 0] Loaded 1 episodes for house 2634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 01:23:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:24:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2634_ceiling.xml [task_sampler.py: 797] +05/27 01:24:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2634, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:24:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:24:21 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 01:24:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:24:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:24:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:24:21 INFO: [Worker 0] Sampled task 'Pick up the white paper cup with starbucks logo and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 01:24:21 INFO: [Worker 0] Worker 0 house 2634 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:24:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:26:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:38:34 INFO: [Worker 0] Worker 0 house 2634 episode 0 object objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 01:38:37 INFO: [Worker 0] Batching and saving trajectory data for house_2634: 1 episodes [pipeline.py: 233] +05/27 01:38:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:38:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:38:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2634 [save_utils.py: 703] +05/27 01:38:40 INFO: [Worker 0] Successfully saved trajectory data for house_2634 in 2.55s (batch: 2.46s, save: 0.09s) [pipeline.py: 280] +05/27 01:38:40 WARNING: [Worker 0] No trajectory data to save for house_2634 [pipeline.py: 229] +05/27 01:38:40 INFO: [Worker 0] Worker 0 completed house 2634: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:38:40 INFO: [Worker 0] Worker 0 starting house 2767 (index 24/113) [pipeline.py: 473] +05/27 01:38:40 INFO: [Worker 0] Loaded 1 episodes for house 2767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 01:38:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:39:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2767_ceiling.xml [task_sampler.py: 797] +05/27 01:39:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2767, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:39:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:39:05 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/27 01:39:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:39:05 INFO: [Worker 0] Sampled task 'Pick up the brown wooden gavel and place it next to the soap bottle' [task_sampler.py: 1136] +05/27 01:39:05 INFO: [Worker 0] Worker 0 house 2767 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:39:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:39:05 WARNING: [Worker 0] Could not find object objawoodentag_a497eb1b77174981bc3ff68b9905287c_1_0_2 in scene [object_manager.py: 1238] +05/27 01:39:05 WARNING: [Worker 0] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2 in scene [object_manager.py: 1238] +05/27 01:40:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:46:50 INFO: [Worker 0] Worker 0 house 2767 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:46:53 INFO: [Worker 0] Batching and saving trajectory data for house_2767: 1 episodes [pipeline.py: 233] +05/27 01:46:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:46:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:46:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2767 [save_utils.py: 703] +05/27 01:46:56 INFO: [Worker 0] Successfully saved trajectory data for house_2767 in 2.53s (batch: 2.44s, save: 0.09s) [pipeline.py: 280] +05/27 01:46:56 WARNING: [Worker 0] No trajectory data to save for house_2767 [pipeline.py: 229] +05/27 01:46:56 INFO: [Worker 0] Worker 0 completed house 2767: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:46:56 INFO: [Worker 0] Worker 0 starting house 2843 (index 25/113) [pipeline.py: 473] +05/27 01:46:56 INFO: [Worker 0] Loaded 1 episodes for house 2843 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 01:46:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:47:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2843_ceiling.xml [task_sampler.py: 797] +05/27 01:47:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2843, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:47:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:47:04 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 01:47:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:47:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:47:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:47:04 INFO: [Worker 0] Sampled task 'Pick up the small beige clay tablet with engravings and place it next to the gray sports shoe with black swoosh' [task_sampler.py: 1136] +05/27 01:47:04 INFO: [Worker 0] Worker 0 house 2843 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:47:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:47:04 WARNING: [Worker 0] Could not find object objatoyairship_85970e5b079d4550b282ce7a659a8777_1_0_9 in scene [object_manager.py: 1238] +05/27 01:47:04 WARNING: [Worker 0] Could not find object plate_6507c0d0aa81061e355e493065f753b3_1_0_9 in scene [object_manager.py: 1238] +05/27 02:03:25 INFO: [Worker 0] Worker 0 house 2843 episode 0 object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 02:03:29 INFO: [Worker 0] Batching and saving trajectory data for house_2843: 1 episodes [pipeline.py: 233] +05/27 02:03:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:03:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:03:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2843 [save_utils.py: 703] +05/27 02:03:31 INFO: [Worker 0] Successfully saved trajectory data for house_2843 in 2.65s (batch: 2.53s, save: 0.12s) [pipeline.py: 280] +05/27 02:03:32 WARNING: [Worker 0] No trajectory data to save for house_2843 [pipeline.py: 229] +05/27 02:03:32 INFO: [Worker 0] Worker 0 completed house 2843: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:03:32 INFO: [Worker 0] Worker 0 starting house 2922 (index 26/113) [pipeline.py: 473] +05/27 02:03:32 INFO: [Worker 0] Loaded 1 episodes for house 2922 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 02:03:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:04:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2922_ceiling.xml [task_sampler.py: 797] +05/27 02:04:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2922, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:04:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:04:20 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 02:04:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:04:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:04:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:04:20 INFO: [Worker 0] Sampled task 'Pick up the gnome with red hat and place it next to the translucent ergonomic spray bottle' [task_sampler.py: 1136] +05/27 02:04:20 INFO: [Worker 0] Worker 0 house 2922 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:04:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:04:20 WARNING: [Worker 0] Could not find object objaminiaturebuildingmodel_41aa4d0aa1684201ae816be715e37748_1_0_9 in scene [object_manager.py: 1238] +05/27 02:04:20 WARNING: [Worker 0] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_9 in scene [object_manager.py: 1238] +05/27 02:06:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:20:47 INFO: [Worker 0] Worker 0 house 2922 episode 0 object objagardengnome_a6cecca0308e43878a034c5f45b098a9_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 02:20:51 INFO: [Worker 0] Batching and saving trajectory data for house_2922: 1 episodes [pipeline.py: 233] +05/27 02:20:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:20:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:20:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2922 [save_utils.py: 703] +05/27 02:20:53 INFO: [Worker 0] Successfully saved trajectory data for house_2922 in 2.58s (batch: 2.49s, save: 0.09s) [pipeline.py: 280] +05/27 02:20:54 WARNING: [Worker 0] No trajectory data to save for house_2922 [pipeline.py: 229] +05/27 02:20:54 INFO: [Worker 0] Worker 0 completed house 2922: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:20:54 INFO: [Worker 0] Worker 0 starting house 3043 (index 27/113) [pipeline.py: 473] +05/27 02:20:54 INFO: [Worker 0] Loaded 1 episodes for house 3043 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 02:20:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:20:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3043_ceiling.xml [task_sampler.py: 797] +05/27 02:20:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3043, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:20:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:20:57 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 02:20:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:20:57 INFO: [Worker 0] Sampled task 'Pick up the blue dotted sign wall decoration and place it next to the ripe red tomato' [task_sampler.py: 1136] +05/27 02:20:57 INFO: [Worker 0] Worker 0 house 3043 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:20:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:20:57 WARNING: [Worker 0] Could not find object objabowtie_c6e9f4585a054e5fb0a86b42c94d0d9b_1_0_2 in scene [object_manager.py: 1238] +05/27 02:20:57 WARNING: [Worker 0] Could not find object objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_2 in scene [object_manager.py: 1238] +05/27 02:20:57 WARNING: [Worker 0] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_3 in scene [object_manager.py: 1238] +05/27 02:20:57 WARNING: [Worker 0] Could not find object objawallsection_a068840f0154440a9ab4c4ab73217fb5_1_0_3 in scene [object_manager.py: 1238] +05/27 02:30:46 INFO: [Worker 0] Worker 0 house 3043 episode 0 object objasignage_29124066089941bbb3fa3517a686019c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 02:30:50 INFO: [Worker 0] Batching and saving trajectory data for house_3043: 1 episodes [pipeline.py: 233] +05/27 02:30:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:30:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:30:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3043 [save_utils.py: 703] +05/27 02:30:53 INFO: [Worker 0] Successfully saved trajectory data for house_3043 in 2.63s (batch: 2.54s, save: 0.09s) [pipeline.py: 280] +05/27 02:30:53 WARNING: [Worker 0] No trajectory data to save for house_3043 [pipeline.py: 229] +05/27 02:30:53 INFO: [Worker 0] Worker 0 completed house 3043: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:30:53 INFO: [Worker 0] Worker 0 starting house 3148 (index 28/113) [pipeline.py: 473] +05/27 02:30:53 INFO: [Worker 0] Loaded 1 episodes for house 3148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 02:30:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:31:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3148_ceiling.xml [task_sampler.py: 797] +05/27 02:31:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3148, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:31:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:31:41 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/27 02:31:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:31:41 INFO: [Worker 0] Sampled task 'Pick up the colorful geometric molecular model and place it next to the white toy cannon with yellow spirals' [task_sampler.py: 1136] +05/27 02:31:41 INFO: [Worker 0] Worker 0 house 3148 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:31:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:33:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:45:55 INFO: [Worker 0] Worker 0 house 3148 episode 0 object objaeducationaltoy_6b36a0d3ca22472280b1d9c57dfd88b6_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 02:45:59 INFO: [Worker 0] Batching and saving trajectory data for house_3148: 1 episodes [pipeline.py: 233] +05/27 02:45:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:46:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:46:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3148 [save_utils.py: 703] +05/27 02:46:01 INFO: [Worker 0] Successfully saved trajectory data for house_3148 in 2.50s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/27 02:46:02 WARNING: [Worker 0] No trajectory data to save for house_3148 [pipeline.py: 229] +05/27 02:46:02 INFO: [Worker 0] Worker 0 completed house 3148: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:46:02 INFO: [Worker 0] Worker 0 starting house 3239 (index 29/113) [pipeline.py: 473] +05/27 02:46:02 INFO: [Worker 0] Loaded 1 episodes for house 3239 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 02:46:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:46:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3239_ceiling.xml [task_sampler.py: 797] +05/27 02:46:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3239, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:46:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:46:04 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/27 02:46:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:46:04 INFO: [Worker 0] Sampled task 'Pick up the smooth plastic realistic hand model and place it next to the thick hardcover blue book' [task_sampler.py: 1136] +05/27 02:46:04 INFO: [Worker 0] Worker 0 house 3239 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:46:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:47:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:53:28 INFO: [Worker 0] Worker 0 house 3239 episode 0 object objahandmodel_ed06e3aa4fea4cd9b37746b2101d4ca5_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 02:53:31 INFO: [Worker 0] Batching and saving trajectory data for house_3239: 1 episodes [pipeline.py: 233] +05/27 02:53:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:53:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:53:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3239 [save_utils.py: 703] +05/27 02:53:34 INFO: [Worker 0] Successfully saved trajectory data for house_3239 in 2.58s (batch: 2.49s, save: 0.09s) [pipeline.py: 280] +05/27 02:53:34 WARNING: [Worker 0] No trajectory data to save for house_3239 [pipeline.py: 229] +05/27 02:53:34 INFO: [Worker 0] Worker 0 completed house 3239: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:53:34 INFO: [Worker 0] Worker 0 starting house 3283 (index 30/113) [pipeline.py: 473] +05/27 02:53:34 INFO: [Worker 0] Loaded 1 episodes for house 3283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 02:53:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:53:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3283_ceiling.xml [task_sampler.py: 797] +05/27 02:53:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3283, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:53:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:53:37 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/27 02:53:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:53:37 INFO: [Worker 0] Sampled task 'Pick up the bright yellow crown with text "barbearia king and place it next to the medium smooth yellow apple with stem' [task_sampler.py: 1136] +05/27 02:53:37 INFO: [Worker 0] Worker 0 house 3283 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:53:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:04:07 INFO: [Worker 0] Worker 0 house 3283 episode 0 object objacrown_5847bde4308c4d9da7345bff00cb4d55_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 03:04:10 INFO: [Worker 0] Batching and saving trajectory data for house_3283: 1 episodes [pipeline.py: 233] +05/27 03:04:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:04:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:04:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3283 [save_utils.py: 703] +05/27 03:04:13 INFO: [Worker 0] Successfully saved trajectory data for house_3283 in 2.51s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/27 03:04:13 WARNING: [Worker 0] No trajectory data to save for house_3283 [pipeline.py: 229] +05/27 03:04:13 INFO: [Worker 0] Worker 0 completed house 3283: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:04:13 INFO: [Worker 0] Worker 0 starting house 3368 (index 31/113) [pipeline.py: 473] +05/27 03:04:13 INFO: [Worker 0] Loaded 1 episodes for house 3368 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 03:04:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:04:14 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 03:04:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3368_ceiling.xml [task_sampler.py: 797] +05/27 03:04:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3368, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:04:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:04:18 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 03:04:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:04:18 INFO: [Worker 0] Sampled task 'Pick up the light rectangular amulet with figure and place it next to the gold vase' [task_sampler.py: 1136] +05/27 03:04:18 INFO: [Worker 0] Worker 0 house 3368 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:04:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:04:18 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 03:05:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:17:24 INFO: [Worker 0] Worker 0 house 3368 episode 0 object objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 03:17:28 INFO: [Worker 0] Batching and saving trajectory data for house_3368: 1 episodes [pipeline.py: 233] +05/27 03:17:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:17:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:17:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3368 [save_utils.py: 703] +05/27 03:17:30 INFO: [Worker 0] Successfully saved trajectory data for house_3368 in 2.50s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/27 03:17:31 WARNING: [Worker 0] No trajectory data to save for house_3368 [pipeline.py: 229] +05/27 03:17:31 INFO: [Worker 0] Worker 0 completed house 3368: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:17:31 INFO: [Worker 0] Worker 0 starting house 3416 (index 32/113) [pipeline.py: 473] +05/27 03:17:31 INFO: [Worker 0] Loaded 1 episodes for house 3416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 03:17:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:17:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3416_ceiling.xml [task_sampler.py: 797] +05/27 03:17:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3416, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:17:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:17:40 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 03:17:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:17:40 INFO: [Worker 0] Sampled task 'Pick up the wavy strip with gradient and place it next to the smooth green rectangular pillow cushion' [task_sampler.py: 1136] +05/27 03:17:40 INFO: [Worker 0] Worker 0 house 3416 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:17:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:31:25 INFO: [Worker 0] Worker 0 house 3416 episode 0 object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 03:31:29 INFO: [Worker 0] Batching and saving trajectory data for house_3416: 1 episodes [pipeline.py: 233] +05/27 03:31:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:31:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:31:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3416 [save_utils.py: 703] +05/27 03:31:32 INFO: [Worker 0] Successfully saved trajectory data for house_3416 in 2.61s (batch: 2.52s, save: 0.09s) [pipeline.py: 280] +05/27 03:31:32 WARNING: [Worker 0] No trajectory data to save for house_3416 [pipeline.py: 229] +05/27 03:31:32 INFO: [Worker 0] Worker 0 completed house 3416: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:31:32 INFO: [Worker 0] Worker 0 starting house 3514 (index 33/113) [pipeline.py: 473] +05/27 03:31:32 INFO: [Worker 0] Loaded 1 episodes for house 3514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 03:31:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:31:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3514_ceiling.xml [task_sampler.py: 797] +05/27 03:31:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3514, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:31:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:31:35 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/27 03:31:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:31:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:31:35 INFO: [Worker 0] Sampled task 'Pick up the green plastic package and place it next to the tall vase with scalloped rim' [task_sampler.py: 1136] +05/27 03:31:35 INFO: [Worker 0] Worker 0 house 3514 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:31:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:33:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:34:36 INFO: [Worker 0] Worker 0 house 3514 episode 0 object objasnackpackage_4b807308e65c4ecd85b8bb1cd5d8da4a_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:34:40 INFO: [Worker 0] Batching and saving trajectory data for house_3514: 1 episodes [pipeline.py: 233] +05/27 03:34:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:34:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:34:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3514 [save_utils.py: 703] +05/27 03:34:42 INFO: [Worker 0] Successfully saved trajectory data for house_3514 in 2.58s (batch: 2.49s, save: 0.09s) [pipeline.py: 280] +05/27 03:34:43 WARNING: [Worker 0] No trajectory data to save for house_3514 [pipeline.py: 229] +05/27 03:34:43 INFO: [Worker 0] Worker 0 completed house 3514: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:34:43 INFO: [Worker 0] Worker 0 starting house 3588 (index 34/113) [pipeline.py: 473] +05/27 03:34:43 INFO: [Worker 0] Loaded 1 episodes for house 3588 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 03:34:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:34:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3588_ceiling.xml [task_sampler.py: 797] +05/27 03:34:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3588, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:34:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:34:45 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/27 03:34:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:34:45 INFO: [Worker 0] Sampled task 'Pick up the dark wooden tool and place it next to the polished smooth rounded blue bowl' [task_sampler.py: 1136] +05/27 03:34:45 INFO: [Worker 0] Worker 0 house 3588 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:34:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:36:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:43:26 INFO: [Worker 0] Worker 0 house 3588 episode 0 object objawoodentool_6727d5933a6f4097a678f6ee8b3d1de0_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:43:29 INFO: [Worker 0] Batching and saving trajectory data for house_3588: 1 episodes [pipeline.py: 233] +05/27 03:43:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:43:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:43:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3588 [save_utils.py: 703] +05/27 03:43:32 INFO: [Worker 0] Successfully saved trajectory data for house_3588 in 2.64s (batch: 2.56s, save: 0.09s) [pipeline.py: 280] +05/27 03:43:33 WARNING: [Worker 0] No trajectory data to save for house_3588 [pipeline.py: 229] +05/27 03:43:33 INFO: [Worker 0] Worker 0 completed house 3588: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:43:33 INFO: [Worker 0] Worker 0 starting house 3718 (index 35/113) [pipeline.py: 473] +05/27 03:43:33 INFO: [Worker 0] Loaded 1 episodes for house 3718 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 03:43:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:43:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3718_ceiling.xml [task_sampler.py: 797] +05/27 03:43:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3718, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:43:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:43:40 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/27 03:43:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:43:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:43:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:43:40 INFO: [Worker 0] Sampled task 'Pick up the geologicalspecimen and place it next to the pencil' [task_sampler.py: 1136] +05/27 03:43:40 INFO: [Worker 0] Worker 0 house 3718 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:43:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:45:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:58:08 INFO: [Worker 0] Worker 0 house 3718 episode 0 object objageologicalspecimen_226e782eecfb47018de9a781a77276d0_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 03:58:12 INFO: [Worker 0] Batching and saving trajectory data for house_3718: 1 episodes [pipeline.py: 233] +05/27 03:58:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:58:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:58:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3718 [save_utils.py: 703] +05/27 03:58:15 INFO: [Worker 0] Successfully saved trajectory data for house_3718 in 2.62s (batch: 2.53s, save: 0.09s) [pipeline.py: 280] +05/27 03:58:15 WARNING: [Worker 0] No trajectory data to save for house_3718 [pipeline.py: 229] +05/27 03:58:15 INFO: [Worker 0] Worker 0 completed house 3718: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:58:15 INFO: [Worker 0] Worker 0 starting house 3759 (index 36/113) [pipeline.py: 473] +05/27 03:58:15 INFO: [Worker 0] Loaded 1 episodes for house 3759 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 03:58:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:58:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3759_ceiling.xml [task_sampler.py: 797] +05/27 03:58:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3759, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:58:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:58:19 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/27 03:58:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:58:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:58:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:58:19 INFO: [Worker 0] Sampled task 'Pick up the denture and place it next to the red lighthouse with framework' [task_sampler.py: 1136] +05/27 03:58:19 INFO: [Worker 0] Worker 0 house 3759 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:58:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:58:19 WARNING: [Worker 0] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_3 in scene [object_manager.py: 1238] +05/27 03:58:19 WARNING: [Worker 0] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_3 in scene [object_manager.py: 1238] +05/27 03:59:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:06:48 INFO: [Worker 0] Worker 0 house 3759 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 04:06:52 INFO: [Worker 0] Batching and saving trajectory data for house_3759: 1 episodes [pipeline.py: 233] +05/27 04:06:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:06:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:06:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3759 [save_utils.py: 703] +05/27 04:06:54 INFO: [Worker 0] Successfully saved trajectory data for house_3759 in 2.62s (batch: 2.53s, save: 0.09s) [pipeline.py: 280] +05/27 04:06:55 WARNING: [Worker 0] No trajectory data to save for house_3759 [pipeline.py: 229] +05/27 04:06:55 INFO: [Worker 0] Worker 0 completed house 3759: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:06:55 INFO: [Worker 0] Worker 0 starting house 3900 (index 37/113) [pipeline.py: 473] +05/27 04:06:55 INFO: [Worker 0] Loaded 1 episodes for house 3900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 04:06:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:07:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3900_ceiling.xml [task_sampler.py: 797] +05/27 04:07:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3900, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:07:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:07:01 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 04:07:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:07:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:07:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:07:02 INFO: [Worker 0] Sampled task 'Pick up the beige ceramic lid with central knob and place it next to the translucent ergonomic spray bottle' [task_sampler.py: 1136] +05/27 04:07:02 INFO: [Worker 0] Worker 0 house 3900 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:07:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:08:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:18:30 INFO: [Worker 0] Worker 0 house 3900 episode 0 object objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 04:18:34 INFO: [Worker 0] Batching and saving trajectory data for house_3900: 1 episodes [pipeline.py: 233] +05/27 04:18:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:18:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:18:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3900 [save_utils.py: 703] +05/27 04:18:37 INFO: [Worker 0] Successfully saved trajectory data for house_3900 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 04:18:38 WARNING: [Worker 0] No trajectory data to save for house_3900 [pipeline.py: 229] +05/27 04:18:38 INFO: [Worker 0] Worker 0 completed house 3900: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:18:38 INFO: [Worker 0] Worker 0 starting house 3991 (index 38/113) [pipeline.py: 473] +05/27 04:18:38 INFO: [Worker 0] Loaded 2 episodes for house 3991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 04:18:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:18:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3991_ceiling.xml [task_sampler.py: 797] +05/27 04:18:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3991, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:18:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:18:40 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 04:18:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:18:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:18:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:18:40 INFO: [Worker 0] Sampled task 'Pick up the green nameplate and place it next to the glossy wooden tapered cup' [task_sampler.py: 1136] +05/27 04:18:40 INFO: [Worker 0] Worker 0 house 3991 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 04:18:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:20:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:21:34 INFO: [Worker 0] Worker 0 house 3991 episode 0 object objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 04:21:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:21:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3991_ceiling.xml [task_sampler.py: 797] +05/27 04:21:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3991, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:21:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:21:41 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 04:21:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:21:41 INFO: [Worker 0] Sampled task 'Pick up the blue puzzle piece with rainbow clouds and place it next to the modern black faucet with spray' [task_sampler.py: 1136] +05/27 04:21:41 INFO: [Worker 0] Worker 0 house 3991 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 04:21:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:23:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:32:14 INFO: [Worker 0] Worker 0 house 3991 episode 1 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 04:32:18 INFO: [Worker 0] Batching and saving trajectory data for house_3991: 2 episodes [pipeline.py: 233] +05/27 04:32:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:32:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:32:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:32:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:32:23 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3991 [save_utils.py: 703] +05/27 04:32:23 INFO: [Worker 0] Successfully saved trajectory data for house_3991 in 5.37s (batch: 5.19s, save: 0.17s) [pipeline.py: 280] +05/27 04:32:24 WARNING: [Worker 0] No trajectory data to save for house_3991 [pipeline.py: 229] +05/27 04:32:24 INFO: [Worker 0] Worker 0 completed house 3991: 0/2 successful episodes [pipeline.py: 1243] +05/27 04:32:24 INFO: [Worker 0] Worker 0 starting house 4028 (index 39/113) [pipeline.py: 473] +05/27 04:32:24 INFO: [Worker 0] Loaded 1 episodes for house 4028 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 04:32:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:32:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4028_ceiling.xml [task_sampler.py: 797] +05/27 04:32:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4028, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:32:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:32:32 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 04:32:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:32:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:32:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:32:32 INFO: [Worker 0] Sampled task 'Pick up the lifelike yellow striped wasp model and place it next to the weathered stone disc' [task_sampler.py: 1136] +05/27 04:32:32 INFO: [Worker 0] Worker 0 house 4028 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:32:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:32:32 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene [object_manager.py: 1238] +05/27 04:34:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:43:36 INFO: [Worker 0] Worker 0 house 4028 episode 0 object objainsect_f384c01929c74ff49375cb5f79f03466_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 04:43:39 INFO: [Worker 0] Batching and saving trajectory data for house_4028: 1 episodes [pipeline.py: 233] +05/27 04:43:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:43:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:43:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4028 [save_utils.py: 703] +05/27 04:43:42 INFO: [Worker 0] Successfully saved trajectory data for house_4028 in 2.60s (batch: 2.51s, save: 0.09s) [pipeline.py: 280] +05/27 04:43:43 WARNING: [Worker 0] No trajectory data to save for house_4028 [pipeline.py: 229] +05/27 04:43:43 INFO: [Worker 0] Worker 0 completed house 4028: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:43:43 INFO: [Worker 0] Worker 0 starting house 4115 (index 40/113) [pipeline.py: 473] +05/27 04:43:43 INFO: [Worker 0] Loaded 1 episodes for house 4115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 04:43:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:43:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4115_ceiling.xml [task_sampler.py: 797] +05/27 04:43:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4115, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:43:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:43:47 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/27 04:43:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:43:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:43:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:43:47 INFO: [Worker 0] Sampled task 'Pick up the metal pliers tool and place it next to the blue patterned phone' [task_sampler.py: 1136] +05/27 04:43:47 INFO: [Worker 0] Worker 0 house 4115 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:43:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:43:47 WARNING: [Worker 0] Could not find object objaabstractsculpture_50fd637c724a48e8940360d6690663ba_1_0_2 in scene [object_manager.py: 1238] +05/27 04:45:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:53:47 INFO: [Worker 0] Worker 0 house 4115 episode 0 object objapliers_0aad9dd2a4cf4eb28b87b0e67dc7ec18_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 04:53:51 INFO: [Worker 0] Batching and saving trajectory data for house_4115: 1 episodes [pipeline.py: 233] +05/27 04:53:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:53:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:53:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4115 [save_utils.py: 703] +05/27 04:53:53 INFO: [Worker 0] Successfully saved trajectory data for house_4115 in 2.60s (batch: 2.51s, save: 0.09s) [pipeline.py: 280] +05/27 04:53:54 WARNING: [Worker 0] No trajectory data to save for house_4115 [pipeline.py: 229] +05/27 04:53:54 INFO: [Worker 0] Worker 0 completed house 4115: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:53:54 INFO: [Worker 0] Worker 0 starting house 4198 (index 41/113) [pipeline.py: 473] +05/27 04:53:54 INFO: [Worker 0] Loaded 1 episodes for house 4198 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 04:53:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:54:04 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 04:54:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4198_ceiling.xml [task_sampler.py: 797] +05/27 04:54:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4198, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:54:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:54:07 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 04:54:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:54:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:54:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:54:07 INFO: [Worker 0] Sampled task 'Pick up the fresh pineapple with spiky green leaves and place it next to the fresh elongated green romaine lettuce' [task_sampler.py: 1136] +05/27 04:54:07 INFO: [Worker 0] Worker 0 house 4198 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:54:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:54:07 WARNING: [Worker 0] Could not find object objatoyairplane_727f33155d8c46fc9f01a7ee7c346538_1_0_6 in scene [object_manager.py: 1238] +05/27 04:54:07 WARNING: [Worker 0] Could not find object tomato_e1cf88813ab29e11ba18f4177beb0346_1_0_6 in scene [object_manager.py: 1238] +05/27 04:54:07 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_7 in scene [object_manager.py: 1238] +05/27 04:55:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:05:56 INFO: [Worker 0] Worker 0 house 4198 episode 0 object objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 05:05:59 INFO: [Worker 0] Batching and saving trajectory data for house_4198: 1 episodes [pipeline.py: 233] +05/27 05:05:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:06:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:06:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4198 [save_utils.py: 703] +05/27 05:06:02 INFO: [Worker 0] Successfully saved trajectory data for house_4198 in 2.68s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/27 05:06:03 WARNING: [Worker 0] No trajectory data to save for house_4198 [pipeline.py: 229] +05/27 05:06:03 INFO: [Worker 0] Worker 0 completed house 4198: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:06:03 INFO: [Worker 0] Worker 0 starting house 4266 (index 42/113) [pipeline.py: 473] +05/27 05:06:03 INFO: [Worker 0] Loaded 1 episodes for house 4266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 05:06:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:06:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4266_ceiling.xml [task_sampler.py: 797] +05/27 05:06:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4266, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:06:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:06:11 INFO: [Worker 0] randomize_scene: Setting poses for 102 objects [json_eval_task_sampler.py: 686] +05/27 05:06:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:06:11 INFO: [Worker 0] Sampled task 'Pick up the vintage black camera and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 05:06:11 INFO: [Worker 0] Worker 0 house 4266 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:06:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:26:22 INFO: [Worker 0] Worker 0 house 4266 episode 0 object objacamera_f49a08efb8a544efb98d4d806b0d1c27_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 05:26:26 INFO: [Worker 0] Batching and saving trajectory data for house_4266: 1 episodes [pipeline.py: 233] +05/27 05:26:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:26:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:26:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4266 [save_utils.py: 703] +05/27 05:26:28 INFO: [Worker 0] Successfully saved trajectory data for house_4266 in 2.58s (batch: 2.49s, save: 0.09s) [pipeline.py: 280] +05/27 05:26:29 WARNING: [Worker 0] No trajectory data to save for house_4266 [pipeline.py: 229] +05/27 05:26:29 INFO: [Worker 0] Worker 0 completed house 4266: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:26:29 INFO: [Worker 0] Worker 0 starting house 4306 (index 43/113) [pipeline.py: 473] +05/27 05:26:29 INFO: [Worker 0] Loaded 1 episodes for house 4306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 05:26:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:26:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4306_ceiling.xml [task_sampler.py: 797] +05/27 05:26:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4306, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:26:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:26:38 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/27 05:26:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:26:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:26:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:26:38 INFO: [Worker 0] Sampled task 'Pick up the brown leather high-top boot and place it next to the brown cardboard box open' [task_sampler.py: 1136] +05/27 05:26:38 INFO: [Worker 0] Worker 0 house 4306 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:26:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:28:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:42:41 INFO: [Worker 0] Worker 0 house 4306 episode 0 object objaboot_83072c9d2cf54194a165897bc77196c1_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 05:42:44 INFO: [Worker 0] Batching and saving trajectory data for house_4306: 1 episodes [pipeline.py: 233] +05/27 05:42:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:42:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:42:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4306 [save_utils.py: 703] +05/27 05:42:46 INFO: [Worker 0] Successfully saved trajectory data for house_4306 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 05:42:47 WARNING: [Worker 0] No trajectory data to save for house_4306 [pipeline.py: 229] +05/27 05:42:47 INFO: [Worker 0] Worker 0 completed house 4306: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:42:47 INFO: [Worker 0] Worker 0 starting house 4385 (index 44/113) [pipeline.py: 473] +05/27 05:42:47 INFO: [Worker 0] Loaded 1 episodes for house 4385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 05:42:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:42:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4385_ceiling.xml [task_sampler.py: 797] +05/27 05:42:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4385, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:42:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:42:57 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/27 05:42:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:42:57 INFO: [Worker 0] Sampled task 'Pick up the garden hose nozzle and place it next to the apple' [task_sampler.py: 1136] +05/27 05:42:57 INFO: [Worker 0] Worker 0 house 4385 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:42:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:54:21 INFO: [Worker 0] Worker 0 house 4385 episode 0 object objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 05:54:24 INFO: [Worker 0] Batching and saving trajectory data for house_4385: 1 episodes [pipeline.py: 233] +05/27 05:54:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:54:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:54:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4385 [save_utils.py: 703] +05/27 05:54:27 INFO: [Worker 0] Successfully saved trajectory data for house_4385 in 2.60s (batch: 2.51s, save: 0.09s) [pipeline.py: 280] +05/27 05:54:27 WARNING: [Worker 0] No trajectory data to save for house_4385 [pipeline.py: 229] +05/27 05:54:27 INFO: [Worker 0] Worker 0 completed house 4385: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:54:27 INFO: [Worker 0] Worker 0 starting house 4476 (index 45/113) [pipeline.py: 473] +05/27 05:54:27 INFO: [Worker 0] Loaded 1 episodes for house 4476 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 05:54:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:54:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4476_ceiling.xml [task_sampler.py: 797] +05/27 05:54:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4476, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:54:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:54:32 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/27 05:54:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:54:32 INFO: [Worker 0] Sampled task 'Pick up the red keychain and place it next to the smooth yellow egg with black zigzag' [task_sampler.py: 1136] +05/27 05:54:32 INFO: [Worker 0] Worker 0 house 4476 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:54:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:54:34 WARNING: [Worker 0] Could not find object objaspraycan_7447e37e0378480c9e30e943350f8ab7_1_0_7 in scene [object_manager.py: 1238] +05/27 05:56:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:09:05 INFO: [Worker 0] Worker 0 house 4476 episode 0 object objakeychainholder_073e7cc7e9cf4968afc05d50528c7f9b_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 06:09:09 INFO: [Worker 0] Batching and saving trajectory data for house_4476: 1 episodes [pipeline.py: 233] +05/27 06:09:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:09:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:09:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4476 [save_utils.py: 703] +05/27 06:09:11 INFO: [Worker 0] Successfully saved trajectory data for house_4476 in 2.62s (batch: 2.53s, save: 0.09s) [pipeline.py: 280] +05/27 06:09:12 WARNING: [Worker 0] No trajectory data to save for house_4476 [pipeline.py: 229] +05/27 06:09:12 INFO: [Worker 0] Worker 0 completed house 4476: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:09:12 INFO: [Worker 0] Worker 0 starting house 4577 (index 46/113) [pipeline.py: 473] +05/27 06:09:12 INFO: [Worker 0] Loaded 1 episodes for house 4577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 06:09:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:09:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4577_ceiling.xml [task_sampler.py: 797] +05/27 06:09:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4577, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:09:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:09:20 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 06:09:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:09:20 INFO: [Worker 0] Sampled task 'Pick up the ginger root and place it next to the blue spray bottle' [task_sampler.py: 1136] +05/27 06:09:20 INFO: [Worker 0] Worker 0 house 4577 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:09:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:19:58 INFO: [Worker 0] Worker 0 house 4577 episode 0 object objagingerroot_e8e250f94c6a4c51b71f15e1a3b36e25_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 06:20:02 INFO: [Worker 0] Batching and saving trajectory data for house_4577: 1 episodes [pipeline.py: 233] +05/27 06:20:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:20:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:20:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4577 [save_utils.py: 703] +05/27 06:20:04 INFO: [Worker 0] Successfully saved trajectory data for house_4577 in 2.64s (batch: 2.54s, save: 0.10s) [pipeline.py: 280] +05/27 06:20:05 WARNING: [Worker 0] No trajectory data to save for house_4577 [pipeline.py: 229] +05/27 06:20:05 INFO: [Worker 0] Worker 0 completed house 4577: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:20:05 INFO: [Worker 0] Worker 0 starting house 4654 (index 47/113) [pipeline.py: 473] +05/27 06:20:05 INFO: [Worker 0] Loaded 1 episodes for house 4654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 06:20:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:20:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4654_ceiling.xml [task_sampler.py: 797] +05/27 06:20:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4654, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:20:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:20:18 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 06:20:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:20:18 INFO: [Worker 0] Sampled task 'Pick up the golden metallic laurel wreath headpiece and place it next to the vintage metal tag' [task_sampler.py: 1136] +05/27 06:20:18 INFO: [Worker 0] Worker 0 house 4654 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:20:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:37:11 INFO: [Worker 0] Worker 0 house 4654 episode 0 object objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 06:37:15 INFO: [Worker 0] Batching and saving trajectory data for house_4654: 1 episodes [pipeline.py: 233] +05/27 06:37:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:37:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:37:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4654 [save_utils.py: 703] +05/27 06:37:17 INFO: [Worker 0] Successfully saved trajectory data for house_4654 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 06:37:18 WARNING: [Worker 0] No trajectory data to save for house_4654 [pipeline.py: 229] +05/27 06:37:18 INFO: [Worker 0] Worker 0 completed house 4654: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:37:18 INFO: [Worker 0] Worker 0 starting house 4692 (index 48/113) [pipeline.py: 473] +05/27 06:37:18 INFO: [Worker 0] Loaded 1 episodes for house 4692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 06:37:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:37:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4692_ceiling.xml [task_sampler.py: 797] +05/27 06:37:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4692, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:37:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:37:20 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/27 06:37:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:37:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:37:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:37:20 INFO: [Worker 0] Sampled task 'Pick up the green armored character card with text and place it next to the conical soap bottle with pump' [task_sampler.py: 1136] +05/27 06:37:20 INFO: [Worker 0] Worker 0 house 4692 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:37:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:39:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:44:29 INFO: [Worker 0] Worker 0 house 4692 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 06:44:32 INFO: [Worker 0] Batching and saving trajectory data for house_4692: 1 episodes [pipeline.py: 233] +05/27 06:44:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:44:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:44:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4692 [save_utils.py: 703] +05/27 06:44:35 INFO: [Worker 0] Successfully saved trajectory data for house_4692 in 2.62s (batch: 2.53s, save: 0.09s) [pipeline.py: 280] +05/27 06:44:36 WARNING: [Worker 0] No trajectory data to save for house_4692 [pipeline.py: 229] +05/27 06:44:36 INFO: [Worker 0] Worker 0 completed house 4692: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:44:36 INFO: [Worker 0] Worker 0 starting house 4766 (index 49/113) [pipeline.py: 473] +05/27 06:44:36 INFO: [Worker 0] Loaded 1 episodes for house 4766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 06:44:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:44:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4766_ceiling.xml [task_sampler.py: 797] +05/27 06:44:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4766, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:44:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:44:38 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/27 06:44:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:44:39 INFO: [Worker 0] Sampled task 'Pick up the white egg and place it next to the tall dark cup with ridges base' [task_sampler.py: 1136] +05/27 06:44:39 INFO: [Worker 0] Worker 0 house 4766 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:44:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:46:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:54:32 INFO: [Worker 0] Worker 0 house 4766 episode 0 object egg_768abcb7b01b3935a0261a8d2ef92b12_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 06:54:35 INFO: [Worker 0] Batching and saving trajectory data for house_4766: 1 episodes [pipeline.py: 233] +05/27 06:54:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:54:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:54:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4766 [save_utils.py: 703] +05/27 06:54:38 INFO: [Worker 0] Successfully saved trajectory data for house_4766 in 2.51s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/27 06:54:38 WARNING: [Worker 0] No trajectory data to save for house_4766 [pipeline.py: 229] +05/27 06:54:38 INFO: [Worker 0] Worker 0 completed house 4766: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:54:38 INFO: [Worker 0] Worker 0 starting house 4863 (index 50/113) [pipeline.py: 473] +05/27 06:54:38 INFO: [Worker 0] Loaded 1 episodes for house 4863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 06:54:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:54:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4863_ceiling.xml [task_sampler.py: 797] +05/27 06:54:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4863, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:54:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:54:42 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/27 06:54:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:54:42 INFO: [Worker 0] Sampled task 'Pick up the dark blue wedge and place it next to the wooden bookmark with butterfly' [task_sampler.py: 1136] +05/27 06:54:42 INFO: [Worker 0] Worker 0 house 4863 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:54:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:54:42 WARNING: [Worker 0] Could not find object objareplicatooth_c7bf1c4c76f74da4bbc1620e1173e189_1_0_3 in scene [object_manager.py: 1238] +05/27 06:54:42 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_3 in scene [object_manager.py: 1238] +05/27 06:56:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:08:11 INFO: [Worker 0] Worker 0 house 4863 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 07:08:15 INFO: [Worker 0] Batching and saving trajectory data for house_4863: 1 episodes [pipeline.py: 233] +05/27 07:08:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:08:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:08:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4863 [save_utils.py: 703] +05/27 07:08:17 INFO: [Worker 0] Successfully saved trajectory data for house_4863 in 2.56s (batch: 2.47s, save: 0.09s) [pipeline.py: 280] +05/27 07:08:18 WARNING: [Worker 0] No trajectory data to save for house_4863 [pipeline.py: 229] +05/27 07:08:18 INFO: [Worker 0] Worker 0 completed house 4863: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:08:18 INFO: [Worker 0] Worker 0 starting house 4929 (index 51/113) [pipeline.py: 473] +05/27 07:08:18 INFO: [Worker 0] Loaded 1 episodes for house 4929 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 07:08:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:08:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4929_ceiling.xml [task_sampler.py: 797] +05/27 07:08:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4929, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:08:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:08:31 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/27 07:08:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:08:31 INFO: [Worker 0] Sampled task 'Pick up the rustic stone cup with hole and place it next to the vibrant abstract sculpture with colorful ribbons' [task_sampler.py: 1136] +05/27 07:08:31 INFO: [Worker 0] Worker 0 house 4929 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:08:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:10:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:25:50 INFO: [Worker 0] Worker 0 house 4929 episode 0 object objastonecup_5ef91e0bfe7b44da9f1d2944386cce85_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:25:54 INFO: [Worker 0] Batching and saving trajectory data for house_4929: 1 episodes [pipeline.py: 233] +05/27 07:25:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:25:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:25:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4929 [save_utils.py: 703] +05/27 07:25:56 INFO: [Worker 0] Successfully saved trajectory data for house_4929 in 2.60s (batch: 2.51s, save: 0.09s) [pipeline.py: 280] +05/27 07:25:57 WARNING: [Worker 0] No trajectory data to save for house_4929 [pipeline.py: 229] +05/27 07:25:57 INFO: [Worker 0] Worker 0 completed house 4929: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:25:57 INFO: [Worker 0] Worker 0 starting house 5015 (index 52/113) [pipeline.py: 473] +05/27 07:25:57 INFO: [Worker 0] Loaded 1 episodes for house 5015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 07:25:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:26:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5015_ceiling.xml [task_sampler.py: 797] +05/27 07:26:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5015, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:26:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:26:04 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/27 07:26:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:26:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:26:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:26:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:26:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:26:04 INFO: [Worker 0] Sampled task 'Pick up the red plastic cup with white interior and place it next to the pink daisy blooming in pot' [task_sampler.py: 1136] +05/27 07:26:04 INFO: [Worker 0] Worker 0 house 5015 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:26:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:27:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:38:03 INFO: [Worker 0] Worker 0 house 5015 episode 0 object objaplasticcup_84d301b896084a2f94f2835dd4ba2d94_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 07:38:07 INFO: [Worker 0] Batching and saving trajectory data for house_5015: 1 episodes [pipeline.py: 233] +05/27 07:38:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:38:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:38:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5015 [save_utils.py: 703] +05/27 07:38:09 INFO: [Worker 0] Successfully saved trajectory data for house_5015 in 2.61s (batch: 2.52s, save: 0.09s) [pipeline.py: 280] +05/27 07:38:10 WARNING: [Worker 0] No trajectory data to save for house_5015 [pipeline.py: 229] +05/27 07:38:10 INFO: [Worker 0] Worker 0 completed house 5015: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:38:10 INFO: [Worker 0] Worker 0 starting house 5130 (index 53/113) [pipeline.py: 473] +05/27 07:38:10 INFO: [Worker 0] Loaded 1 episodes for house 5130 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 07:38:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:38:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5130_ceiling.xml [task_sampler.py: 797] +05/27 07:38:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5130, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:38:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:38:15 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 07:38:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:38:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:38:15 INFO: [Worker 0] Sampled task 'Pick up the cylindrical dark nhl pencilcase and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 07:38:15 INFO: [Worker 0] Worker 0 house 5130 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:38:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:38:15 WARNING: [Worker 0] Could not find object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_4 in scene [object_manager.py: 1238] +05/27 07:38:15 WARNING: [Worker 0] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_7 in scene [object_manager.py: 1238] +05/27 07:38:15 WARNING: [Worker 0] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_7 in scene [object_manager.py: 1238] +05/27 07:38:15 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_7 in scene [object_manager.py: 1238] +05/27 07:39:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:48:39 INFO: [Worker 0] Worker 0 house 5130 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 07:48:43 INFO: [Worker 0] Batching and saving trajectory data for house_5130: 1 episodes [pipeline.py: 233] +05/27 07:48:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:48:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:48:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5130 [save_utils.py: 703] +05/27 07:48:46 INFO: [Worker 0] Successfully saved trajectory data for house_5130 in 2.65s (batch: 2.56s, save: 0.09s) [pipeline.py: 280] +05/27 07:48:46 WARNING: [Worker 0] No trajectory data to save for house_5130 [pipeline.py: 229] +05/27 07:48:46 INFO: [Worker 0] Worker 0 completed house 5130: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:48:46 INFO: [Worker 0] Worker 0 starting house 5148 (index 54/113) [pipeline.py: 473] +05/27 07:48:46 INFO: [Worker 0] Loaded 2 episodes for house 5148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 07:48:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:48:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5148_ceiling.xml [task_sampler.py: 797] +05/27 07:48:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5148, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:48:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:48:51 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/27 07:48:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:48:51 INFO: [Worker 0] Sampled task 'Pick up the bronze buckle with cowboy and place it next to the golden brown artisanal loaf of bread' [task_sampler.py: 1136] +05/27 07:48:51 INFO: [Worker 0] Worker 0 house 5148 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 07:48:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:48:52 WARNING: [Worker 0] Could not find object objasponge_2cb7026ffacf4889bb265099b8460c7f_1_0_5 in scene [object_manager.py: 1238] +05/27 07:50:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:00:47 INFO: [Worker 0] Worker 0 house 5148 episode 0 object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 08:00:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:00:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5148_ceiling.xml [task_sampler.py: 797] +05/27 08:00:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5148, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:00:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:00:54 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/27 08:00:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:00:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:00:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:00:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:00:54 INFO: [Worker 0] Sampled task 'Pick up the modern white tape dispenser and place it next to the black radiator with looping copper tubes' [task_sampler.py: 1136] +05/27 08:00:54 INFO: [Worker 0] Worker 0 house 5148 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 08:00:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:00:55 WARNING: [Worker 0] Could not find object objasponge_2cb7026ffacf4889bb265099b8460c7f_1_0_5 in scene [object_manager.py: 1238] +05/27 08:02:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:13:35 INFO: [Worker 0] Worker 0 house 5148 episode 1 object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 08:13:39 INFO: [Worker 0] Batching and saving trajectory data for house_5148: 2 episodes [pipeline.py: 233] +05/27 08:13:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:13:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:13:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:13:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:13:44 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5148 [save_utils.py: 703] +05/27 08:13:44 INFO: [Worker 0] Successfully saved trajectory data for house_5148 in 5.13s (batch: 4.95s, save: 0.18s) [pipeline.py: 280] +05/27 08:13:44 WARNING: [Worker 0] No trajectory data to save for house_5148 [pipeline.py: 229] +05/27 08:13:45 INFO: [Worker 0] Worker 0 completed house 5148: 0/2 successful episodes [pipeline.py: 1243] +05/27 08:13:45 INFO: [Worker 0] Worker 0 starting house 5186 (index 55/113) [pipeline.py: 473] +05/27 08:13:45 INFO: [Worker 0] Loaded 1 episodes for house 5186 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 08:13:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:13:51 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 08:13:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5186_ceiling.xml [task_sampler.py: 797] +05/27 08:13:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5186, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:13:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:13:54 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 08:13:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:13:54 INFO: [Worker 0] Sampled task 'Pick up the cross-shaped metallic connector with holes and place it next to the spherical colorful puzzle ball with patterns' [task_sampler.py: 1136] +05/27 08:13:54 INFO: [Worker 0] Worker 0 house 5186 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:13:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:13:54 WARNING: [Worker 0] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_5 in scene [object_manager.py: 1238] +05/27 08:13:54 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene [object_manager.py: 1238] +05/27 08:13:54 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 08:15:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:27:49 INFO: [Worker 0] Worker 0 house 5186 episode 0 object objaconnector_72e520e59a5242198535fedad37a00f1_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 08:27:53 INFO: [Worker 0] Batching and saving trajectory data for house_5186: 1 episodes [pipeline.py: 233] +05/27 08:27:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:27:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:27:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5186 [save_utils.py: 703] +05/27 08:27:55 INFO: [Worker 0] Successfully saved trajectory data for house_5186 in 2.61s (batch: 2.52s, save: 0.09s) [pipeline.py: 280] +05/27 08:27:56 WARNING: [Worker 0] No trajectory data to save for house_5186 [pipeline.py: 229] +05/27 08:27:56 INFO: [Worker 0] Worker 0 completed house 5186: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:27:56 INFO: [Worker 0] Worker 0 starting house 5288 (index 56/113) [pipeline.py: 473] +05/27 08:27:56 INFO: [Worker 0] Loaded 1 episodes for house 5288 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 08:27:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:28:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5288_ceiling.xml [task_sampler.py: 797] +05/27 08:28:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5288, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:28:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:28:02 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 08:28:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:28:02 INFO: [Worker 0] Sampled task 'Pick up the blowtorch and place it next to the realistic pink brain model' [task_sampler.py: 1136] +05/27 08:28:02 INFO: [Worker 0] Worker 0 house 5288 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:28:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:29:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:41:05 INFO: [Worker 0] Worker 0 house 5288 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 08:41:09 INFO: [Worker 0] Batching and saving trajectory data for house_5288: 1 episodes [pipeline.py: 233] +05/27 08:41:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:41:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:41:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5288 [save_utils.py: 703] +05/27 08:41:12 INFO: [Worker 0] Successfully saved trajectory data for house_5288 in 2.65s (batch: 2.56s, save: 0.09s) [pipeline.py: 280] +05/27 08:41:12 WARNING: [Worker 0] No trajectory data to save for house_5288 [pipeline.py: 229] +05/27 08:41:12 INFO: [Worker 0] Worker 0 completed house 5288: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:41:12 INFO: [Worker 0] Worker 0 starting house 5445 (index 57/113) [pipeline.py: 473] +05/27 08:41:12 INFO: [Worker 0] Loaded 1 episodes for house 5445 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 08:41:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:41:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5445_ceiling.xml [task_sampler.py: 797] +05/27 08:41:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5445, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:41:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:41:16 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/27 08:41:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:41:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:41:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:41:16 INFO: [Worker 0] Sampled task 'Pick up the rustic wooden mug with handle and place it next to the aerosol container' [task_sampler.py: 1136] +05/27 08:41:16 INFO: [Worker 0] Worker 0 house 5445 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:41:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:55:38 INFO: [Worker 0] Worker 0 house 5445 episode 0 object objamug_8529afb010814c188970381c3596afef_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 08:55:41 INFO: [Worker 0] Batching and saving trajectory data for house_5445: 1 episodes [pipeline.py: 233] +05/27 08:55:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:55:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:55:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5445 [save_utils.py: 703] +05/27 08:55:44 INFO: [Worker 0] Successfully saved trajectory data for house_5445 in 2.50s (batch: 2.40s, save: 0.09s) [pipeline.py: 280] +05/27 08:55:44 WARNING: [Worker 0] No trajectory data to save for house_5445 [pipeline.py: 229] +05/27 08:55:44 INFO: [Worker 0] Worker 0 completed house 5445: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:55:44 INFO: [Worker 0] Worker 0 starting house 5523 (index 58/113) [pipeline.py: 473] +05/27 08:55:44 INFO: [Worker 0] Loaded 1 episodes for house 5523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 08:55:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:55:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5523_ceiling.xml [task_sampler.py: 797] +05/27 08:55:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5523, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:55:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:55:54 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/27 08:55:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:55:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:55:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:55:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:55:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:55:54 INFO: [Worker 0] Sampled task 'Pick up the rusty metal rod and place it next to the realistic beige saber-toothed cat skull' [task_sampler.py: 1136] +05/27 08:55:54 INFO: [Worker 0] Worker 0 house 5523 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:55:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:12:29 INFO: [Worker 0] Worker 0 house 5523 episode 0 object objametalrod_18484b0d1a274d62abde66a9047600ca_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 09:12:33 INFO: [Worker 0] Batching and saving trajectory data for house_5523: 1 episodes [pipeline.py: 233] +05/27 09:12:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:12:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:12:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5523 [save_utils.py: 703] +05/27 09:12:36 INFO: [Worker 0] Successfully saved trajectory data for house_5523 in 2.62s (batch: 2.53s, save: 0.09s) [pipeline.py: 280] +05/27 09:12:36 WARNING: [Worker 0] No trajectory data to save for house_5523 [pipeline.py: 229] +05/27 09:12:36 INFO: [Worker 0] Worker 0 completed house 5523: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:12:36 INFO: [Worker 0] Worker 0 starting house 5596 (index 59/113) [pipeline.py: 473] +05/27 09:12:36 INFO: [Worker 0] Loaded 1 episodes for house 5596 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 09:12:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:12:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5596_ceiling.xml [task_sampler.py: 797] +05/27 09:12:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5596, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:12:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:12:42 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 09:12:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:12:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:12:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:12:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:12:42 INFO: [Worker 0] Sampled task 'Pick up the stone fish decor and place it next to the textured octagonal translucent soap bottle' [task_sampler.py: 1136] +05/27 09:12:42 INFO: [Worker 0] Worker 0 house 5596 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:12:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:14:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:24:46 INFO: [Worker 0] Worker 0 house 5596 episode 0 object objadecorativefish_5a1f0f032b2a4774887620ca540318c4_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 09:24:50 INFO: [Worker 0] Batching and saving trajectory data for house_5596: 1 episodes [pipeline.py: 233] +05/27 09:24:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:24:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:24:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5596 [save_utils.py: 703] +05/27 09:24:53 INFO: [Worker 0] Successfully saved trajectory data for house_5596 in 2.59s (batch: 2.50s, save: 0.09s) [pipeline.py: 280] +05/27 09:24:53 WARNING: [Worker 0] No trajectory data to save for house_5596 [pipeline.py: 229] +05/27 09:24:53 INFO: [Worker 0] Worker 0 completed house 5596: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:24:53 INFO: [Worker 0] Worker 0 starting house 5652 (index 60/113) [pipeline.py: 473] +05/27 09:24:53 INFO: [Worker 0] Loaded 1 episodes for house 5652 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 09:24:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:25:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5652_ceiling.xml [task_sampler.py: 797] +05/27 09:25:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5652, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:25:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:25:00 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/27 09:25:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:25:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:25:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:25:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:25:00 INFO: [Worker 0] Sampled task 'Pick up the white decorative corner molding and place it next to the transparent soap bottle with dark pump' [task_sampler.py: 1136] +05/27 09:25:00 INFO: [Worker 0] Worker 0 house 5652 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:25:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:26:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:33:21 INFO: [Worker 0] Worker 0 house 5652 episode 0 object objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 09:33:25 INFO: [Worker 0] Batching and saving trajectory data for house_5652: 1 episodes [pipeline.py: 233] +05/27 09:33:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:33:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:33:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5652 [save_utils.py: 703] +05/27 09:33:27 INFO: [Worker 0] Successfully saved trajectory data for house_5652 in 2.53s (batch: 2.44s, save: 0.10s) [pipeline.py: 280] +05/27 09:33:28 WARNING: [Worker 0] No trajectory data to save for house_5652 [pipeline.py: 229] +05/27 09:33:28 INFO: [Worker 0] Worker 0 completed house 5652: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:33:28 INFO: [Worker 0] Worker 0 starting house 5755 (index 61/113) [pipeline.py: 473] +05/27 09:33:28 INFO: [Worker 0] Loaded 1 episodes for house 5755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 09:33:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:33:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5755_ceiling.xml [task_sampler.py: 797] +05/27 09:33:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5755, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:33:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:33:31 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/27 09:33:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:33:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:33:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:33:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:33:31 INFO: [Worker 0] Sampled task 'Pick up the colorful geometric molecular model and place it next to the muscleman hanging on yellow rings' [task_sampler.py: 1136] +05/27 09:33:31 INFO: [Worker 0] Worker 0 house 5755 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:33:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:35:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:44:25 INFO: [Worker 0] Worker 0 house 5755 episode 0 object objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 09:44:29 INFO: [Worker 0] Batching and saving trajectory data for house_5755: 1 episodes [pipeline.py: 233] +05/27 09:44:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:44:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:44:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5755 [save_utils.py: 703] +05/27 09:44:31 INFO: [Worker 0] Successfully saved trajectory data for house_5755 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/27 09:44:32 WARNING: [Worker 0] No trajectory data to save for house_5755 [pipeline.py: 229] +05/27 09:44:32 INFO: [Worker 0] Worker 0 completed house 5755: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:44:32 INFO: [Worker 0] Worker 0 starting house 5867 (index 62/113) [pipeline.py: 473] +05/27 09:44:32 INFO: [Worker 0] Loaded 1 episodes for house 5867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 09:44:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:44:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5867_ceiling.xml [task_sampler.py: 797] +05/27 09:44:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5867, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:44:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:44:38 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/27 09:44:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:44:38 INFO: [Worker 0] Sampled task 'Pick up the glossy black sign with pink and place it next to the glossy black sign with pink' [task_sampler.py: 1136] +05/27 09:44:38 INFO: [Worker 0] Worker 0 house 5867 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:44:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:46:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:52:38 INFO: [Worker 0] Worker 0 house 5867 episode 0 object objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 09:52:41 INFO: [Worker 0] Batching and saving trajectory data for house_5867: 1 episodes [pipeline.py: 233] +05/27 09:52:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:52:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:52:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5867 [save_utils.py: 703] +05/27 09:52:44 INFO: [Worker 0] Successfully saved trajectory data for house_5867 in 2.58s (batch: 2.49s, save: 0.09s) [pipeline.py: 280] +05/27 09:52:44 WARNING: [Worker 0] No trajectory data to save for house_5867 [pipeline.py: 229] +05/27 09:52:44 INFO: [Worker 0] Worker 0 completed house 5867: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:52:44 INFO: [Worker 0] Worker 0 starting house 5914 (index 63/113) [pipeline.py: 473] +05/27 09:52:44 INFO: [Worker 0] Loaded 1 episodes for house 5914 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 09:52:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:53:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5914_ceiling.xml [task_sampler.py: 797] +05/27 09:53:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5914, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:53:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:53:29 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/27 09:53:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:53:29 INFO: [Worker 0] Sampled task 'Pick up the vintage black film camera and place it next to the curved golden prism with ship' [task_sampler.py: 1136] +05/27 09:53:29 INFO: [Worker 0] Worker 0 house 5914 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:53:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:55:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:02:33 INFO: [Worker 0] Worker 0 house 5914 episode 0 object objafilmcamera_1d9723e8400443fabf6ed8a52b9a208d_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 10:02:36 INFO: [Worker 0] Batching and saving trajectory data for house_5914: 1 episodes [pipeline.py: 233] +05/27 10:02:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:02:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:02:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5914 [save_utils.py: 703] +05/27 10:02:39 INFO: [Worker 0] Successfully saved trajectory data for house_5914 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/27 10:02:40 WARNING: [Worker 0] No trajectory data to save for house_5914 [pipeline.py: 229] +05/27 10:02:40 INFO: [Worker 0] Worker 0 completed house 5914: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:02:40 INFO: [Worker 0] Worker 0 starting house 6011 (index 64/113) [pipeline.py: 473] +05/27 10:02:40 INFO: [Worker 0] Loaded 1 episodes for house 6011 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 10:02:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:03:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6011_ceiling.xml [task_sampler.py: 797] +05/27 10:03:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6011, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:03:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:03:12 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 10:03:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:03:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:03:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:03:12 INFO: [Worker 0] Sampled task 'Pick up the blocky toy soldier wearing red uniform and place it next to the black classic bar-style mobile phone' [task_sampler.py: 1136] +05/27 10:03:12 INFO: [Worker 0] Worker 0 house 6011 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:03:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:04:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:17:16 INFO: [Worker 0] Worker 0 house 6011 episode 0 object objatoysoldier_e408c968b0f44a9d92ac92ad390b608a_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 10:17:19 INFO: [Worker 0] Batching and saving trajectory data for house_6011: 1 episodes [pipeline.py: 233] +05/27 10:17:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:17:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:17:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6011 [save_utils.py: 703] +05/27 10:17:22 INFO: [Worker 0] Successfully saved trajectory data for house_6011 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 10:17:23 WARNING: [Worker 0] No trajectory data to save for house_6011 [pipeline.py: 229] +05/27 10:17:23 INFO: [Worker 0] Worker 0 completed house 6011: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:17:23 INFO: [Worker 0] Worker 0 starting house 6100 (index 65/113) [pipeline.py: 473] +05/27 10:17:23 INFO: [Worker 0] Loaded 1 episodes for house 6100 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 10:17:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:17:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6100_ceiling.xml [task_sampler.py: 797] +05/27 10:17:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6100, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:17:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:17:28 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 10:17:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:17:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:17:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:17:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:17:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:17:28 INFO: [Worker 0] Sampled task 'Pick up the blue star-shaped mold with patterns and place it next to the tall dark cup with ridges base' [task_sampler.py: 1136] +05/27 10:17:28 INFO: [Worker 0] Worker 0 house 6100 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:17:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:19:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:29:01 INFO: [Worker 0] Worker 0 house 6100 episode 0 object objamold_225720a070c046dba53c77e9a0a7716f_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 10:29:05 INFO: [Worker 0] Batching and saving trajectory data for house_6100: 1 episodes [pipeline.py: 233] +05/27 10:29:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:29:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:29:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6100 [save_utils.py: 703] +05/27 10:29:08 INFO: [Worker 0] Successfully saved trajectory data for house_6100 in 2.55s (batch: 2.46s, save: 0.09s) [pipeline.py: 280] +05/27 10:29:08 WARNING: [Worker 0] No trajectory data to save for house_6100 [pipeline.py: 229] +05/27 10:29:08 INFO: [Worker 0] Worker 0 completed house 6100: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:29:08 INFO: [Worker 0] Worker 0 starting house 6170 (index 66/113) [pipeline.py: 473] +05/27 10:29:08 INFO: [Worker 0] Loaded 1 episodes for house 6170 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 10:29:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:29:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6170_ceiling.xml [task_sampler.py: 797] +05/27 10:29:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6170, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:29:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:29:13 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/27 10:29:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:29:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:29:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:29:13 INFO: [Worker 0] Sampled task 'Pick up the green packet and place it next to the decorative goblet with ribbon bow' [task_sampler.py: 1136] +05/27 10:29:13 INFO: [Worker 0] Worker 0 house 6170 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:29:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:29:13 WARNING: [Worker 0] Could not find object objaelectricaloutlet_4e5f458de0884bf8a5b460b2bfdf3c41_1_0_2 in scene [object_manager.py: 1238] +05/27 10:30:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:33:10 INFO: [Worker 0] Worker 0 house 6170 episode 0 object objapacket_30d0d5de961f4a889aeac04b1e81cd61_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 10:33:13 INFO: [Worker 0] Batching and saving trajectory data for house_6170: 1 episodes [pipeline.py: 233] +05/27 10:33:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:33:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:33:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6170 [save_utils.py: 703] +05/27 10:33:16 INFO: [Worker 0] Successfully saved trajectory data for house_6170 in 2.54s (batch: 2.45s, save: 0.09s) [pipeline.py: 280] +05/27 10:33:16 WARNING: [Worker 0] No trajectory data to save for house_6170 [pipeline.py: 229] +05/27 10:33:16 INFO: [Worker 0] Worker 0 completed house 6170: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:33:16 INFO: [Worker 0] Worker 0 starting house 6250 (index 67/113) [pipeline.py: 473] +05/27 10:33:16 INFO: [Worker 0] Loaded 1 episodes for house 6250 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 10:33:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:33:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6250_ceiling.xml [task_sampler.py: 797] +05/27 10:33:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6250, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:33:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:33:19 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects [json_eval_task_sampler.py: 686] +05/27 10:33:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:33:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:33:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:33:19 INFO: [Worker 0] Sampled task 'Pick up the worn brown work glove with cuff and place it next to the dark gray rounded cast iron pot' [task_sampler.py: 1136] +05/27 10:33:19 INFO: [Worker 0] Worker 0 house 6250 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:33:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:34:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:42:50 INFO: [Worker 0] Worker 0 house 6250 episode 0 object objaglove_437e50e2a7b441ba87d54392c39c0baf_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 10:42:53 INFO: [Worker 0] Batching and saving trajectory data for house_6250: 1 episodes [pipeline.py: 233] +05/27 10:42:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:42:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:42:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6250 [save_utils.py: 703] +05/27 10:42:56 INFO: [Worker 0] Successfully saved trajectory data for house_6250 in 2.62s (batch: 2.53s, save: 0.09s) [pipeline.py: 280] +05/27 10:42:57 WARNING: [Worker 0] No trajectory data to save for house_6250 [pipeline.py: 229] +05/27 10:42:57 INFO: [Worker 0] Worker 0 completed house 6250: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:42:57 INFO: [Worker 0] Worker 0 starting house 6293 (index 68/113) [pipeline.py: 473] +05/27 10:42:57 INFO: [Worker 0] Loaded 1 episodes for house 6293 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 10:42:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:43:07 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 10:43:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6293_ceiling.xml [task_sampler.py: 797] +05/27 10:43:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6293, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:43:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:43:11 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/27 10:43:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:43:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:43:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:43:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:43:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:43:11 INFO: [Worker 0] Sampled task 'Pick up the blue metallic disc and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 10:43:11 INFO: [Worker 0] Worker 0 house 6293 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:43:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:43:11 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 10:43:11 WARNING: [Worker 0] Could not find object objasandal_c337b092178a4931a68336c3e6f49287_1_0_5 in scene [object_manager.py: 1238] +05/27 10:43:11 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/27 10:44:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:00:04 INFO: [Worker 0] Worker 0 house 6293 episode 0 object objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 11:00:08 INFO: [Worker 0] Batching and saving trajectory data for house_6293: 1 episodes [pipeline.py: 233] +05/27 11:00:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:00:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:00:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6293 [save_utils.py: 703] +05/27 11:00:11 INFO: [Worker 0] Successfully saved trajectory data for house_6293 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 11:00:12 WARNING: [Worker 0] No trajectory data to save for house_6293 [pipeline.py: 229] +05/27 11:00:12 INFO: [Worker 0] Worker 0 completed house 6293: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:00:12 INFO: [Worker 0] Worker 0 starting house 6378 (index 69/113) [pipeline.py: 473] +05/27 11:00:12 INFO: [Worker 0] Loaded 1 episodes for house 6378 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 11:00:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:00:37 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 11:00:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6378_ceiling.xml [task_sampler.py: 797] +05/27 11:00:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6378, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:00:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:00:40 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 11:00:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:00:40 INFO: [Worker 0] Sampled task 'Pick up the primitive off-white stone arrowhead tool and place it next to the white hardcover book about programming' [task_sampler.py: 1136] +05/27 11:00:40 INFO: [Worker 0] Worker 0 house 6378 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:00:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:00:40 WARNING: [Worker 0] Could not find object objadecorativefigurine_ad9c3e91ec494617a3fd842301dab227_1_0_4 in scene [object_manager.py: 1238] +05/27 11:00:40 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 11:02:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:17:35 INFO: [Worker 0] Worker 0 house 6378 episode 0 object objastonetool_ecbf9010c8ff4544867d28d237dab330_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 11:17:39 INFO: [Worker 0] Batching and saving trajectory data for house_6378: 1 episodes [pipeline.py: 233] +05/27 11:17:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:17:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:17:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6378 [save_utils.py: 703] +05/27 11:17:41 INFO: [Worker 0] Successfully saved trajectory data for house_6378 in 2.58s (batch: 2.48s, save: 0.09s) [pipeline.py: 280] +05/27 11:17:42 WARNING: [Worker 0] No trajectory data to save for house_6378 [pipeline.py: 229] +05/27 11:17:42 INFO: [Worker 0] Worker 0 completed house 6378: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:17:42 INFO: [Worker 0] Worker 0 starting house 6430 (index 70/113) [pipeline.py: 473] +05/27 11:17:42 INFO: [Worker 0] Loaded 1 episodes for house 6430 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 11:17:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:17:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6430_ceiling.xml [task_sampler.py: 797] +05/27 11:17:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6430, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:17:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:17:46 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/27 11:17:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:17:46 INFO: [Worker 0] Sampled task 'Pick up the sharp scissors with blue handles and place it next to the tall dark cup with ridges' [task_sampler.py: 1136] +05/27 11:17:46 INFO: [Worker 0] Worker 0 house 6430 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:17:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:19:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:24:40 INFO: [Worker 0] Worker 0 house 6430 episode 0 object objascissors_c67efef1abeb41969eef84c06311fac6_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:24:43 INFO: [Worker 0] Batching and saving trajectory data for house_6430: 1 episodes [pipeline.py: 233] +05/27 11:24:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:24:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:24:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6430 [save_utils.py: 703] +05/27 11:24:46 INFO: [Worker 0] Successfully saved trajectory data for house_6430 in 2.51s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/27 11:24:46 WARNING: [Worker 0] No trajectory data to save for house_6430 [pipeline.py: 229] +05/27 11:24:46 INFO: [Worker 0] Worker 0 completed house 6430: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:24:46 INFO: [Worker 0] Worker 0 starting house 6533 (index 71/113) [pipeline.py: 473] +05/27 11:24:46 INFO: [Worker 0] Loaded 1 episodes for house 6533 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 11:24:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:25:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6533_ceiling.xml [task_sampler.py: 797] +05/27 11:25:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6533, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:25:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:25:13 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/27 11:25:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:25:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:25:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:25:13 INFO: [Worker 0] Sampled task 'Pick up the gamingmouse and place it next to the faded blue vintage car' [task_sampler.py: 1136] +05/27 11:25:13 INFO: [Worker 0] Worker 0 house 6533 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:25:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:26:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:35:44 INFO: [Worker 0] Worker 0 house 6533 episode 0 object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 11:35:47 INFO: [Worker 0] Batching and saving trajectory data for house_6533: 1 episodes [pipeline.py: 233] +05/27 11:35:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:35:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:35:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6533 [save_utils.py: 703] +05/27 11:35:50 INFO: [Worker 0] Successfully saved trajectory data for house_6533 in 2.62s (batch: 2.53s, save: 0.09s) [pipeline.py: 280] +05/27 11:35:50 WARNING: [Worker 0] No trajectory data to save for house_6533 [pipeline.py: 229] +05/27 11:35:50 INFO: [Worker 0] Worker 0 completed house 6533: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:35:50 INFO: [Worker 0] Worker 0 starting house 6672 (index 72/113) [pipeline.py: 473] +05/27 11:35:50 INFO: [Worker 0] Loaded 1 episodes for house 6672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 11:35:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:36:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6672_ceiling.xml [task_sampler.py: 797] +05/27 11:36:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6672, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:36:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:36:00 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 11:36:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:36:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:36:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:36:00 INFO: [Worker 0] Sampled task 'Pick up the brown stick and place it next to the brown bread' [task_sampler.py: 1136] +05/27 11:36:00 INFO: [Worker 0] Worker 0 house 6672 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:36:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:36:00 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene [object_manager.py: 1238] +05/27 11:37:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:48:36 INFO: [Worker 0] Worker 0 house 6672 episode 0 object objastick_973e872f05da428b9594feb65ec42e10_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 11:48:40 INFO: [Worker 0] Batching and saving trajectory data for house_6672: 1 episodes [pipeline.py: 233] +05/27 11:48:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:48:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:48:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6672 [save_utils.py: 703] +05/27 11:48:43 INFO: [Worker 0] Successfully saved trajectory data for house_6672 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 11:48:43 WARNING: [Worker 0] No trajectory data to save for house_6672 [pipeline.py: 229] +05/27 11:48:43 INFO: [Worker 0] Worker 0 completed house 6672: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:48:43 INFO: [Worker 0] Worker 0 starting house 6755 (index 73/113) [pipeline.py: 473] +05/27 11:48:43 INFO: [Worker 0] Loaded 1 episodes for house 6755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 11:48:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:48:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6755_ceiling.xml [task_sampler.py: 797] +05/27 11:48:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6755, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:48:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:48:57 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 11:48:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:48:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:48:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:48:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:48:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:48:57 INFO: [Worker 0] Sampled task 'Pick up the primitive stone hammer with wooden handle and place it next to the metallic brushed stainless steel toaster' [task_sampler.py: 1136] +05/27 11:48:57 INFO: [Worker 0] Worker 0 house 6755 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:48:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:48:57 WARNING: [Worker 0] Could not find object objametalartifact_ce43098d06304a5c854f996ce96bd02e_1_0_5 in scene [object_manager.py: 1238] +05/27 11:48:57 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/27 12:05:08 INFO: [Worker 0] Worker 0 house 6755 episode 0 object objastonehammer_5222cf9dedae4a31882281f6d7bada89_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 12:05:11 INFO: [Worker 0] Batching and saving trajectory data for house_6755: 1 episodes [pipeline.py: 233] +05/27 12:05:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:05:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:05:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6755 [save_utils.py: 703] +05/27 12:05:14 INFO: [Worker 0] Successfully saved trajectory data for house_6755 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/27 12:05:15 WARNING: [Worker 0] No trajectory data to save for house_6755 [pipeline.py: 229] +05/27 12:05:15 INFO: [Worker 0] Worker 0 completed house 6755: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:05:15 INFO: [Worker 0] Worker 0 starting house 6858 (index 74/113) [pipeline.py: 473] +05/27 12:05:15 INFO: [Worker 0] Loaded 1 episodes for house 6858 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 12:05:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:05:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6858_ceiling.xml [task_sampler.py: 797] +05/27 12:05:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6858, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:05:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:05:24 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 12:05:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:05:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:05:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:05:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:05:24 INFO: [Worker 0] Sampled task 'Pick up the ergonomic black handheld scanner and place it next to the blue glossy vase' [task_sampler.py: 1136] +05/27 12:05:24 INFO: [Worker 0] Worker 0 house 6858 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:05:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:07:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:17:47 INFO: [Worker 0] Worker 0 house 6858 episode 0 object objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 12:17:50 INFO: [Worker 0] Batching and saving trajectory data for house_6858: 1 episodes [pipeline.py: 233] +05/27 12:17:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:17:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:17:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6858 [save_utils.py: 703] +05/27 12:17:53 INFO: [Worker 0] Successfully saved trajectory data for house_6858 in 2.59s (batch: 2.50s, save: 0.09s) [pipeline.py: 280] +05/27 12:17:54 WARNING: [Worker 0] No trajectory data to save for house_6858 [pipeline.py: 229] +05/27 12:17:54 INFO: [Worker 0] Worker 0 completed house 6858: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:17:54 INFO: [Worker 0] Worker 0 starting house 6934 (index 75/113) [pipeline.py: 473] +05/27 12:17:54 INFO: [Worker 0] Loaded 1 episodes for house 6934 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 12:17:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:18:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6934_ceiling.xml [task_sampler.py: 797] +05/27 12:18:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6934, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:18:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:18:02 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/27 12:18:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:18:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:18:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:18:02 INFO: [Worker 0] Sampled task 'Pick up the replica bone and place it next to the pagoda with dragon and chains' [task_sampler.py: 1136] +05/27 12:18:02 INFO: [Worker 0] Worker 0 house 6934 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:18:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:19:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:20:35 INFO: [Worker 0] Worker 0 house 6934 episode 0 object objareplicabone_d016a23297944f2db6a6f92625f39bf0_1_0_7 completed with success=True [pipeline.py: 1114] +05/27 12:20:38 INFO: [Worker 0] Batching and saving trajectory data for house_6934: 1 episodes [pipeline.py: 233] +05/27 12:20:38 INFO: [Worker 0] Preparing episode data: 46 timesteps [save_utils.py: 284] +05/27 12:20:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:20:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6934 [save_utils.py: 703] +05/27 12:20:40 INFO: [Worker 0] Successfully saved trajectory data for house_6934 in 2.39s (batch: 2.37s, save: 0.03s) [pipeline.py: 280] +05/27 12:20:41 WARNING: [Worker 0] No trajectory data to save for house_6934 [pipeline.py: 229] +05/27 12:20:41 INFO: [Worker 0] Worker 0 completed house 6934: 1/1 successful episodes [pipeline.py: 1243] +05/27 12:20:41 INFO: [Worker 0] Worker 0 starting house 6995 (index 76/113) [pipeline.py: 473] +05/27 12:20:41 INFO: [Worker 0] Loaded 1 episodes for house 6995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 12:20:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:21:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6995_ceiling.xml [task_sampler.py: 797] +05/27 12:21:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6995, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:21:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:21:05 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/27 12:21:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:21:05 INFO: [Worker 0] Sampled task 'Pick up the large bulbous garlic with dried stem and place it next to the dark gray plate with ridges' [task_sampler.py: 1136] +05/27 12:21:05 INFO: [Worker 0] Worker 0 house 6995 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:21:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:21:05 WARNING: [Worker 0] Could not find object objarockformation_4d2933a75ff24afc8b8a76cd9a33a4b3_1_0_2 in scene [object_manager.py: 1238] +05/27 12:21:05 WARNING: [Worker 0] Could not find object cup_846a15223bb43478575a27d2329db25d_1_0_2 in scene [object_manager.py: 1238] +05/27 12:21:05 WARNING: [Worker 0] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene [object_manager.py: 1238] +05/27 12:21:05 WARNING: [Worker 0] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene [object_manager.py: 1238] +05/27 12:21:05 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_9 in scene [object_manager.py: 1238] +05/27 12:21:05 WARNING: [Worker 0] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_9 in scene [object_manager.py: 1238] +05/27 12:22:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:40:12 INFO: [Worker 0] Worker 0 house 6995 episode 0 object objagarlicbulb_0ba46093caff4ef7b415279e4a28e3cc_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 12:40:15 INFO: [Worker 0] Batching and saving trajectory data for house_6995: 1 episodes [pipeline.py: 233] +05/27 12:40:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:40:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:40:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6995 [save_utils.py: 703] +05/27 12:40:18 INFO: [Worker 0] Successfully saved trajectory data for house_6995 in 2.62s (batch: 2.53s, save: 0.09s) [pipeline.py: 280] +05/27 12:40:18 WARNING: [Worker 0] No trajectory data to save for house_6995 [pipeline.py: 229] +05/27 12:40:18 INFO: [Worker 0] Worker 0 completed house 6995: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:40:18 INFO: [Worker 0] Worker 0 starting house 7065 (index 77/113) [pipeline.py: 473] +05/27 12:40:18 INFO: [Worker 0] Loaded 1 episodes for house 7065 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 12:40:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:40:45 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 12:40:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7065_ceiling.xml [task_sampler.py: 797] +05/27 12:40:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7065, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:40:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:40:47 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 12:40:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:40:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:40:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:40:47 INFO: [Worker 0] Sampled task 'Pick up the dark nhl pencilcase and place it next to the vibrant floral mug with handle' [task_sampler.py: 1136] +05/27 12:40:47 INFO: [Worker 0] Worker 0 house 7065 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:40:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:40:47 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene [object_manager.py: 1238] +05/27 12:42:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:51:36 INFO: [Worker 0] Worker 0 house 7065 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 12:51:40 INFO: [Worker 0] Batching and saving trajectory data for house_7065: 1 episodes [pipeline.py: 233] +05/27 12:51:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:51:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:51:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7065 [save_utils.py: 703] +05/27 12:51:42 INFO: [Worker 0] Successfully saved trajectory data for house_7065 in 2.54s (batch: 2.45s, save: 0.09s) [pipeline.py: 280] +05/27 12:51:43 WARNING: [Worker 0] No trajectory data to save for house_7065 [pipeline.py: 229] +05/27 12:51:43 INFO: [Worker 0] Worker 0 completed house 7065: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:51:43 INFO: [Worker 0] Worker 0 starting house 7148 (index 78/113) [pipeline.py: 473] +05/27 12:51:43 INFO: [Worker 0] Loaded 1 episodes for house 7148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 12:51:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:51:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7148_ceiling.xml [task_sampler.py: 797] +05/27 12:51:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7148, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:51:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:51:47 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 12:51:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:51:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:51:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:51:47 INFO: [Worker 0] Sampled task 'Pick up the white candle with number four and place it next to the pink grooved candle on green holder' [task_sampler.py: 1136] +05/27 12:51:47 INFO: [Worker 0] Worker 0 house 7148 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:51:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:06:16 INFO: [Worker 0] Worker 0 house 7148 episode 0 object objadecorativecandle_f6df1e32257f437d896fc6c406d04914_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 13:06:20 INFO: [Worker 0] Batching and saving trajectory data for house_7148: 1 episodes [pipeline.py: 233] +05/27 13:06:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:06:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:06:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7148 [save_utils.py: 703] +05/27 13:06:22 INFO: [Worker 0] Successfully saved trajectory data for house_7148 in 2.67s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/27 13:06:23 WARNING: [Worker 0] No trajectory data to save for house_7148 [pipeline.py: 229] +05/27 13:06:23 INFO: [Worker 0] Worker 0 completed house 7148: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:06:23 INFO: [Worker 0] Worker 0 starting house 7230 (index 79/113) [pipeline.py: 473] +05/27 13:06:23 INFO: [Worker 0] Loaded 1 episodes for house 7230 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 13:06:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:06:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7230_ceiling.xml [task_sampler.py: 797] +05/27 13:06:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7230, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:06:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:06:28 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/27 13:06:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:06:28 INFO: [Worker 0] Sampled task 'Pick up the blue retro-style cassette player and place it next to the blue square ceramic plate' [task_sampler.py: 1136] +05/27 13:06:28 INFO: [Worker 0] Worker 0 house 7230 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:06:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:08:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:13:07 INFO: [Worker 0] Worker 0 house 7230 episode 0 object objacassetteplayer_14daacbaf0f94f458851e15dfd717426_2_0_3 completed with success=False [pipeline.py: 1114] +05/27 13:13:10 INFO: [Worker 0] Batching and saving trajectory data for house_7230: 1 episodes [pipeline.py: 233] +05/27 13:13:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:13:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:13:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7230 [save_utils.py: 703] +05/27 13:13:13 INFO: [Worker 0] Successfully saved trajectory data for house_7230 in 2.60s (batch: 2.52s, save: 0.09s) [pipeline.py: 280] +05/27 13:13:13 WARNING: [Worker 0] No trajectory data to save for house_7230 [pipeline.py: 229] +05/27 13:13:13 INFO: [Worker 0] Worker 0 completed house 7230: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:13:13 INFO: [Worker 0] Worker 0 starting house 7333 (index 80/113) [pipeline.py: 473] +05/27 13:13:13 INFO: [Worker 0] Loaded 1 episodes for house 7333 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 13:13:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:13:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7333_ceiling.xml [task_sampler.py: 797] +05/27 13:13:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7333, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:13:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:13:27 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 13:13:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:13:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:13:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:13:27 INFO: [Worker 0] Sampled task 'Pick up the white smart speaker with fabric and place it next to the heavily rusted brake caliper pistons' [task_sampler.py: 1136] +05/27 13:13:27 INFO: [Worker 0] Worker 0 house 7333 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:13:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:26:24 INFO: [Worker 0] Worker 0 house 7333 episode 0 object objasmartspeaker_5388f20d16064e1fae2741e1c26c9fa3_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 13:26:27 INFO: [Worker 0] Batching and saving trajectory data for house_7333: 1 episodes [pipeline.py: 233] +05/27 13:26:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:26:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:26:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7333 [save_utils.py: 703] +05/27 13:26:30 INFO: [Worker 0] Successfully saved trajectory data for house_7333 in 2.75s (batch: 2.66s, save: 0.09s) [pipeline.py: 280] +05/27 13:26:31 WARNING: [Worker 0] No trajectory data to save for house_7333 [pipeline.py: 229] +05/27 13:26:31 INFO: [Worker 0] Worker 0 completed house 7333: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:26:31 INFO: [Worker 0] Worker 0 starting house 7347 (index 81/113) [pipeline.py: 473] +05/27 13:26:31 INFO: [Worker 0] Loaded 2 episodes for house 7347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 13:26:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:26:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7347_ceiling.xml [task_sampler.py: 797] +05/27 13:26:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7347, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:26:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:26:42 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/27 13:26:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:26:42 INFO: [Worker 0] Sampled task 'Pick up the butt hinge and place it next to the black white striped decorative award' [task_sampler.py: 1136] +05/27 13:26:42 INFO: [Worker 0] Worker 0 house 7347 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 13:26:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:26:42 WARNING: [Worker 0] Could not find object objasignage_bb52b9455ae4459e94b6d3bf9d3fb510_1_0_6 in scene [object_manager.py: 1238] +05/27 13:26:42 WARNING: [Worker 0] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene [object_manager.py: 1238] +05/27 13:28:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:35:47 INFO: [Worker 0] Worker 0 house 7347 episode 0 object objaconcealedhinge_dc23e9723bdc42fa8f79ff643bcc68e3_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 13:35:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:35:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7347_ceiling.xml [task_sampler.py: 797] +05/27 13:35:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7347, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:35:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:35:53 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/27 13:35:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:35:53 INFO: [Worker 0] Sampled task 'Pick up the blue wavy porous cleaning sponge and place it next to the cup' [task_sampler.py: 1136] +05/27 13:35:53 INFO: [Worker 0] Worker 0 house 7347 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 13:35:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:35:53 WARNING: [Worker 0] Could not find object objasignage_bb52b9455ae4459e94b6d3bf9d3fb510_1_0_6 in scene [object_manager.py: 1238] +05/27 13:35:53 WARNING: [Worker 0] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene [object_manager.py: 1238] +05/27 13:37:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:44:41 INFO: [Worker 0] Worker 0 house 7347 episode 1 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 13:44:44 INFO: [Worker 0] Batching and saving trajectory data for house_7347: 2 episodes [pipeline.py: 233] +05/27 13:44:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:44:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:44:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:44:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:44:49 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7347 [save_utils.py: 703] +05/27 13:44:49 INFO: [Worker 0] Successfully saved trajectory data for house_7347 in 5.10s (batch: 4.93s, save: 0.17s) [pipeline.py: 280] +05/27 13:44:50 WARNING: [Worker 0] No trajectory data to save for house_7347 [pipeline.py: 229] +05/27 13:44:50 INFO: [Worker 0] Worker 0 completed house 7347: 0/2 successful episodes [pipeline.py: 1243] +05/27 13:44:50 INFO: [Worker 0] Worker 0 starting house 7363 (index 82/113) [pipeline.py: 473] +05/27 13:44:50 INFO: [Worker 0] Loaded 1 episodes for house 7363 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 13:44:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:44:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7363_ceiling.xml [task_sampler.py: 797] +05/27 13:44:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7363, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:44:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:44:52 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/27 13:44:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:44:52 INFO: [Worker 0] Sampled task 'Pick up the antique hand mirror with floral and place it next to the turquoise toy vehicle with red wheels' [task_sampler.py: 1136] +05/27 13:44:52 INFO: [Worker 0] Worker 0 house 7363 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:44:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:46:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:51:07 INFO: [Worker 0] Worker 0 house 7363 episode 0 object objahandmirror_356c4b59d2b14b5a841475d01d4e82aa_2_0_2 completed with success=False [pipeline.py: 1114] +05/27 13:51:10 INFO: [Worker 0] Batching and saving trajectory data for house_7363: 1 episodes [pipeline.py: 233] +05/27 13:51:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:51:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:51:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7363 [save_utils.py: 703] +05/27 13:51:13 INFO: [Worker 0] Successfully saved trajectory data for house_7363 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 13:51:13 WARNING: [Worker 0] No trajectory data to save for house_7363 [pipeline.py: 229] +05/27 13:51:13 INFO: [Worker 0] Worker 0 completed house 7363: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:51:13 INFO: [Worker 0] Worker 0 starting house 7440 (index 83/113) [pipeline.py: 473] +05/27 13:51:13 INFO: [Worker 0] Loaded 1 episodes for house 7440 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 13:51:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:51:27 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 13:51:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7440_ceiling.xml [task_sampler.py: 797] +05/27 13:51:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7440, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:51:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:51:31 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/27 13:51:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:51:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:51:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:51:31 INFO: [Worker 0] Sampled task 'Pick up the spherical polished brown wooden yo-yo and place it next to the open brown cardboard box for packaging' [task_sampler.py: 1136] +05/27 13:51:31 INFO: [Worker 0] Worker 0 house 7440 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:51:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:51:31 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene [object_manager.py: 1238] +05/27 14:09:01 INFO: [Worker 0] Worker 0 house 7440 episode 0 object objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 14:09:04 INFO: [Worker 0] Batching and saving trajectory data for house_7440: 1 episodes [pipeline.py: 233] +05/27 14:09:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:09:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:09:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7440 [save_utils.py: 703] +05/27 14:09:07 INFO: [Worker 0] Successfully saved trajectory data for house_7440 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/27 14:09:08 WARNING: [Worker 0] No trajectory data to save for house_7440 [pipeline.py: 229] +05/27 14:09:08 INFO: [Worker 0] Worker 0 completed house 7440: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:09:08 INFO: [Worker 0] Worker 0 starting house 7504 (index 84/113) [pipeline.py: 473] +05/27 14:09:08 INFO: [Worker 0] Loaded 1 episodes for house 7504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 14:09:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:09:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7504_ceiling.xml [task_sampler.py: 797] +05/27 14:09:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7504, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:09:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:09:36 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 14:09:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:09:36 INFO: [Worker 0] Sampled task 'Pick up the black espresso pot and place it next to the sleek dark portable laptop with keyboard' [task_sampler.py: 1136] +05/27 14:09:36 INFO: [Worker 0] Worker 0 house 7504 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:09:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:11:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:23:34 INFO: [Worker 0] Worker 0 house 7504 episode 0 object objamokapot_e359184cea054cb09b5c603845cb0231_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 14:23:38 INFO: [Worker 0] Batching and saving trajectory data for house_7504: 1 episodes [pipeline.py: 233] +05/27 14:23:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:23:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:23:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7504 [save_utils.py: 703] +05/27 14:23:40 INFO: [Worker 0] Successfully saved trajectory data for house_7504 in 2.54s (batch: 2.45s, save: 0.10s) [pipeline.py: 280] +05/27 14:23:41 WARNING: [Worker 0] No trajectory data to save for house_7504 [pipeline.py: 229] +05/27 14:23:41 INFO: [Worker 0] Worker 0 completed house 7504: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:23:41 INFO: [Worker 0] Worker 0 starting house 7625 (index 85/113) [pipeline.py: 473] +05/27 14:23:41 INFO: [Worker 0] Loaded 1 episodes for house 7625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 14:23:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:23:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7625_ceiling.xml [task_sampler.py: 797] +05/27 14:23:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7625, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:23:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:23:56 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/27 14:23:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:23:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:23:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:23:56 INFO: [Worker 0] Sampled task 'Pick up the means and place it next to the gold pump bottle' [task_sampler.py: 1136] +05/27 14:23:56 INFO: [Worker 0] Worker 0 house 7625 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:23:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:25:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:34:33 INFO: [Worker 0] Worker 0 house 7625 episode 0 object objatray_b4351af051964283968b5fed441ee844_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 14:34:36 INFO: [Worker 0] Batching and saving trajectory data for house_7625: 1 episodes [pipeline.py: 233] +05/27 14:34:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:34:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:34:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7625 [save_utils.py: 703] +05/27 14:34:39 INFO: [Worker 0] Successfully saved trajectory data for house_7625 in 2.57s (batch: 2.47s, save: 0.09s) [pipeline.py: 280] +05/27 14:34:39 WARNING: [Worker 0] No trajectory data to save for house_7625 [pipeline.py: 229] +05/27 14:34:39 INFO: [Worker 0] Worker 0 completed house 7625: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:34:39 INFO: [Worker 0] Worker 0 starting house 7740 (index 86/113) [pipeline.py: 473] +05/27 14:34:39 INFO: [Worker 0] Loaded 1 episodes for house 7740 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 14:34:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:35:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7740_ceiling.xml [task_sampler.py: 797] +05/27 14:35:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7740, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:35:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:35:00 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/27 14:35:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:35:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:35:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:35:00 INFO: [Worker 0] Sampled task 'Pick up the orange and green cube and place it next to the gray elongated stone' [task_sampler.py: 1136] +05/27 14:35:00 INFO: [Worker 0] Worker 0 house 7740 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:35:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:35:00 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene [object_manager.py: 1238] +05/27 14:35:00 WARNING: [Worker 0] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene [object_manager.py: 1238] +05/27 14:36:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:50:13 INFO: [Worker 0] Worker 0 house 7740 episode 0 object objapuzzletoy_3b74eeb531ca4f49a0274e2887526aee_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 14:50:17 INFO: [Worker 0] Batching and saving trajectory data for house_7740: 1 episodes [pipeline.py: 233] +05/27 14:50:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:50:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:50:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7740 [save_utils.py: 703] +05/27 14:50:19 INFO: [Worker 0] Successfully saved trajectory data for house_7740 in 2.68s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/27 14:50:20 WARNING: [Worker 0] No trajectory data to save for house_7740 [pipeline.py: 229] +05/27 14:50:20 INFO: [Worker 0] Worker 0 completed house 7740: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:50:20 INFO: [Worker 0] Worker 0 starting house 7841 (index 87/113) [pipeline.py: 473] +05/27 14:50:20 INFO: [Worker 0] Loaded 1 episodes for house 7841 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 14:50:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:50:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7841_ceiling.xml [task_sampler.py: 797] +05/27 14:50:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7841, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:50:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:50:21 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/27 14:50:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:50:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:50:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:50:21 INFO: [Worker 0] Sampled task 'Pick up the silver bullet with red band tip and place it next to the rectangular dark gray tufted pillow' [task_sampler.py: 1136] +05/27 14:50:21 INFO: [Worker 0] Worker 0 house 7841 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:50:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:52:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:56:49 INFO: [Worker 0] Worker 0 house 7841 episode 0 object objadecorativereplica_7da5f4dde5ae41a1b634f54bb3133b3d_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 14:56:53 INFO: [Worker 0] Batching and saving trajectory data for house_7841: 1 episodes [pipeline.py: 233] +05/27 14:56:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:56:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:56:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7841 [save_utils.py: 703] +05/27 14:56:55 INFO: [Worker 0] Successfully saved trajectory data for house_7841 in 2.51s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/27 14:56:56 WARNING: [Worker 0] No trajectory data to save for house_7841 [pipeline.py: 229] +05/27 14:56:56 INFO: [Worker 0] Worker 0 completed house 7841: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:56:56 INFO: [Worker 0] Worker 0 starting house 7923 (index 88/113) [pipeline.py: 473] +05/27 14:56:56 INFO: [Worker 0] Loaded 1 episodes for house 7923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 14:56:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:57:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7923_ceiling.xml [task_sampler.py: 797] +05/27 14:57:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7923, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:57:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:57:17 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/27 14:57:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:57:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:57:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:57:17 INFO: [Worker 0] Sampled task 'Pick up the brown clay dish with handle and place it next to the fresh green lettuce with stem' [task_sampler.py: 1136] +05/27 14:57:17 INFO: [Worker 0] Worker 0 house 7923 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:57:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:07:26 INFO: [Worker 0] Worker 0 house 7923 episode 0 object objaclaydish_74d08c7da86943e19fe4667bf039bf03_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 15:07:29 INFO: [Worker 0] Batching and saving trajectory data for house_7923: 1 episodes [pipeline.py: 233] +05/27 15:07:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:07:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:07:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7923 [save_utils.py: 703] +05/27 15:07:32 INFO: [Worker 0] Successfully saved trajectory data for house_7923 in 2.51s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/27 15:07:32 WARNING: [Worker 0] No trajectory data to save for house_7923 [pipeline.py: 229] +05/27 15:07:32 INFO: [Worker 0] Worker 0 completed house 7923: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:07:32 INFO: [Worker 0] Worker 0 starting house 7997 (index 89/113) [pipeline.py: 473] +05/27 15:07:32 INFO: [Worker 0] Loaded 1 episodes for house 7997 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 15:07:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:07:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7997_ceiling.xml [task_sampler.py: 797] +05/27 15:07:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7997, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:07:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:07:51 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/27 15:07:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:07:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:07:51 INFO: [Worker 0] Sampled task 'Pick up the brown potato and place it next to the bronze female statue' [task_sampler.py: 1136] +05/27 15:07:51 INFO: [Worker 0] Worker 0 house 7997 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:07:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:09:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:23:11 INFO: [Worker 0] Worker 0 house 7997 episode 0 object Irishpotato_121f03310f70f545adbe1151e4ea4b7f_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 15:23:14 INFO: [Worker 0] Batching and saving trajectory data for house_7997: 1 episodes [pipeline.py: 233] +05/27 15:23:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:23:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:23:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7997 [save_utils.py: 703] +05/27 15:23:17 INFO: [Worker 0] Successfully saved trajectory data for house_7997 in 2.60s (batch: 2.51s, save: 0.09s) [pipeline.py: 280] +05/27 15:23:17 WARNING: [Worker 0] No trajectory data to save for house_7997 [pipeline.py: 229] +05/27 15:23:17 INFO: [Worker 0] Worker 0 completed house 7997: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:23:17 INFO: [Worker 0] Worker 0 starting house 8098 (index 90/113) [pipeline.py: 473] +05/27 15:23:17 INFO: [Worker 0] Loaded 1 episodes for house 8098 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 15:23:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:23:21 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 15:23:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8098_ceiling.xml [task_sampler.py: 797] +05/27 15:23:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8098, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:23:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:23:23 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 15:23:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:23:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:23:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:23:23 INFO: [Worker 0] Sampled task 'Pick up the card with pink bow and place it next to the red mechanical glove with blades' [task_sampler.py: 1136] +05/27 15:23:23 INFO: [Worker 0] Worker 0 house 8098 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:23:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:23:23 WARNING: [Worker 0] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_6 in scene [object_manager.py: 1238] +05/27 15:25:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:34:04 INFO: [Worker 0] Worker 0 house 8098 episode 0 object objadecorativecard_65c3c59dcda94798b4f95a1817325f33_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 15:34:08 INFO: [Worker 0] Batching and saving trajectory data for house_8098: 1 episodes [pipeline.py: 233] +05/27 15:34:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:34:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:34:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8098 [save_utils.py: 703] +05/27 15:34:11 INFO: [Worker 0] Successfully saved trajectory data for house_8098 in 2.61s (batch: 2.52s, save: 0.09s) [pipeline.py: 280] +05/27 15:34:11 WARNING: [Worker 0] No trajectory data to save for house_8098 [pipeline.py: 229] +05/27 15:34:11 INFO: [Worker 0] Worker 0 completed house 8098: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:34:11 INFO: [Worker 0] Worker 0 starting house 8183 (index 91/113) [pipeline.py: 473] +05/27 15:34:11 INFO: [Worker 0] Loaded 1 episodes for house 8183 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 15:34:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:34:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8183_ceiling.xml [task_sampler.py: 797] +05/27 15:34:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8183, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:34:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:34:17 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 15:34:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:34:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:34:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:34:17 INFO: [Worker 0] Sampled task 'Pick up the gray cooking pot and place it next to the brown bread' [task_sampler.py: 1136] +05/27 15:34:17 INFO: [Worker 0] Worker 0 house 8183 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:34:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:35:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:43:24 INFO: [Worker 0] Worker 0 house 8183 episode 0 object pot_b37a4855fab8cf0217449f68b5c47ef4_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:43:27 INFO: [Worker 0] Batching and saving trajectory data for house_8183: 1 episodes [pipeline.py: 233] +05/27 15:43:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:43:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:43:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8183 [save_utils.py: 703] +05/27 15:43:30 INFO: [Worker 0] Successfully saved trajectory data for house_8183 in 2.53s (batch: 2.44s, save: 0.09s) [pipeline.py: 280] +05/27 15:43:30 WARNING: [Worker 0] No trajectory data to save for house_8183 [pipeline.py: 229] +05/27 15:43:30 INFO: [Worker 0] Worker 0 completed house 8183: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:43:30 INFO: [Worker 0] Worker 0 starting house 8247 (index 92/113) [pipeline.py: 473] +05/27 15:43:30 INFO: [Worker 0] Loaded 1 episodes for house 8247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 15:43:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:43:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8247_ceiling.xml [task_sampler.py: 797] +05/27 15:43:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8247, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:43:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:43:57 INFO: [Worker 0] randomize_scene: Setting poses for 112 objects [json_eval_task_sampler.py: 686] +05/27 15:43:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:43:57 INFO: [Worker 0] Sampled task 'Pick up the gnome with red hat and place it next to the glossy blue vase' [task_sampler.py: 1136] +05/27 15:43:57 INFO: [Worker 0] Worker 0 house 8247 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:43:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:43:57 WARNING: [Worker 0] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_5 in scene [object_manager.py: 1238] +05/27 15:43:57 WARNING: [Worker 0] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene [object_manager.py: 1238] +05/27 16:04:34 INFO: [Worker 0] Worker 0 house 8247 episode 0 object objagardengnome_581405b5a63b40aba342e1356700e464_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 16:04:38 INFO: [Worker 0] Batching and saving trajectory data for house_8247: 1 episodes [pipeline.py: 233] +05/27 16:04:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:04:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:04:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8247 [save_utils.py: 703] +05/27 16:04:40 INFO: [Worker 0] Successfully saved trajectory data for house_8247 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 16:04:41 WARNING: [Worker 0] No trajectory data to save for house_8247 [pipeline.py: 229] +05/27 16:04:41 INFO: [Worker 0] Worker 0 completed house 8247: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:04:41 INFO: [Worker 0] Worker 0 starting house 8326 (index 93/113) [pipeline.py: 473] +05/27 16:04:41 INFO: [Worker 0] Loaded 1 episodes for house 8326 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 16:04:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:05:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8326_ceiling.xml [task_sampler.py: 797] +05/27 16:05:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8326, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:05:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:05:03 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/27 16:05:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:05:03 INFO: [Worker 0] Sampled task 'Pick up the wooden house keyholder and place it next to the black patterned orb' [task_sampler.py: 1136] +05/27 16:05:03 INFO: [Worker 0] Worker 0 house 8326 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:05:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:23:53 INFO: [Worker 0] Worker 0 house 8326 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 16:23:57 INFO: [Worker 0] Batching and saving trajectory data for house_8326: 1 episodes [pipeline.py: 233] +05/27 16:23:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:23:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:23:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8326 [save_utils.py: 703] +05/27 16:23:59 INFO: [Worker 0] Successfully saved trajectory data for house_8326 in 2.55s (batch: 2.46s, save: 0.09s) [pipeline.py: 280] +05/27 16:24:00 WARNING: [Worker 0] No trajectory data to save for house_8326 [pipeline.py: 229] +05/27 16:24:00 INFO: [Worker 0] Worker 0 completed house 8326: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:24:00 INFO: [Worker 0] Worker 0 starting house 8402 (index 94/113) [pipeline.py: 473] +05/27 16:24:00 INFO: [Worker 0] Loaded 1 episodes for house 8402 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 16:24:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:24:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8402_ceiling.xml [task_sampler.py: 797] +05/27 16:24:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8402, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:24:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:24:14 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/27 16:24:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:24:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:24:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:24:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:24:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:24:14 INFO: [Worker 0] Sampled task 'Pick up the white rectangular switch plate and place it next to the small beige clay tablet with engravings' [task_sampler.py: 1136] +05/27 16:24:14 INFO: [Worker 0] Worker 0 house 8402 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:24:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:24:15 WARNING: [Worker 0] Could not find object objadecorativeartifact_b1b4c89f78cf4dbda524100885eab273_1_0_5 in scene [object_manager.py: 1238] +05/27 16:24:15 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene [object_manager.py: 1238] +05/27 16:25:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:40:30 INFO: [Worker 0] Worker 0 house 8402 episode 0 object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 16:40:33 INFO: [Worker 0] Batching and saving trajectory data for house_8402: 1 episodes [pipeline.py: 233] +05/27 16:40:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:40:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:40:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8402 [save_utils.py: 703] +05/27 16:40:36 INFO: [Worker 0] Successfully saved trajectory data for house_8402 in 2.75s (batch: 2.66s, save: 0.09s) [pipeline.py: 280] +05/27 16:40:37 WARNING: [Worker 0] No trajectory data to save for house_8402 [pipeline.py: 229] +05/27 16:40:37 INFO: [Worker 0] Worker 0 completed house 8402: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:40:37 INFO: [Worker 0] Worker 0 starting house 8481 (index 95/113) [pipeline.py: 473] +05/27 16:40:37 INFO: [Worker 0] Loaded 1 episodes for house 8481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 16:40:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:40:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8481_ceiling.xml [task_sampler.py: 797] +05/27 16:40:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8481, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:40:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:40:48 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/27 16:40:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:40:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:40:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:40:48 INFO: [Worker 0] Sampled task 'Pick up the tall golden spike with base and place it next to the squirt gun' [task_sampler.py: 1136] +05/27 16:40:48 INFO: [Worker 0] Worker 0 house 8481 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:40:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:40:49 WARNING: [Worker 0] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene [object_manager.py: 1238] +05/27 16:40:49 WARNING: [Worker 0] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene [object_manager.py: 1238] +05/27 16:55:41 INFO: [Worker 0] Worker 0 house 8481 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 16:55:45 INFO: [Worker 0] Batching and saving trajectory data for house_8481: 1 episodes [pipeline.py: 233] +05/27 16:55:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:55:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:55:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8481 [save_utils.py: 703] +05/27 16:55:47 INFO: [Worker 0] Successfully saved trajectory data for house_8481 in 2.62s (batch: 2.54s, save: 0.09s) [pipeline.py: 280] +05/27 16:55:48 WARNING: [Worker 0] No trajectory data to save for house_8481 [pipeline.py: 229] +05/27 16:55:48 INFO: [Worker 0] Worker 0 completed house 8481: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:55:48 INFO: [Worker 0] Worker 0 starting house 8562 (index 96/113) [pipeline.py: 473] +05/27 16:55:48 INFO: [Worker 0] Loaded 1 episodes for house 8562 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 16:55:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:56:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8562_ceiling.xml [task_sampler.py: 797] +05/27 16:56:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8562, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:56:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:56:11 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/27 16:56:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:56:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:56:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:56:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:56:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:56:11 INFO: [Worker 0] Sampled task 'Pick up the round white garlic bulb with ridges and place it next to the medium ripe red tomato with stem' [task_sampler.py: 1136] +05/27 16:56:11 INFO: [Worker 0] Worker 0 house 8562 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:56:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:57:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:07:25 INFO: [Worker 0] Worker 0 house 8562 episode 0 object objagarlic_c7db153e97a94acdbd45824ca668497a_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 17:07:29 INFO: [Worker 0] Batching and saving trajectory data for house_8562: 1 episodes [pipeline.py: 233] +05/27 17:07:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:07:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:07:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8562 [save_utils.py: 703] +05/27 17:07:31 INFO: [Worker 0] Successfully saved trajectory data for house_8562 in 2.53s (batch: 2.44s, save: 0.09s) [pipeline.py: 280] +05/27 17:07:32 WARNING: [Worker 0] No trajectory data to save for house_8562 [pipeline.py: 229] +05/27 17:07:32 INFO: [Worker 0] Worker 0 completed house 8562: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:07:32 INFO: [Worker 0] Worker 0 starting house 8689 (index 97/113) [pipeline.py: 473] +05/27 17:07:32 INFO: [Worker 0] Loaded 1 episodes for house 8689 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 17:07:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:07:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8689_ceiling.xml [task_sampler.py: 797] +05/27 17:07:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8689, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:07:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:07:46 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects [json_eval_task_sampler.py: 686] +05/27 17:07:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:07:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:07:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:07:46 INFO: [Worker 0] Sampled task 'Pick up the white paint roller and place it next to the olive scalloped ceramic plate' [task_sampler.py: 1136] +05/27 17:07:46 INFO: [Worker 0] Worker 0 house 8689 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:07:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:07:46 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene [object_manager.py: 1238] +05/27 17:07:46 WARNING: [Worker 0] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 in scene [object_manager.py: 1238] +05/27 17:09:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:27:20 INFO: [Worker 0] Worker 0 house 8689 episode 0 object objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:27:24 INFO: [Worker 0] Batching and saving trajectory data for house_8689: 1 episodes [pipeline.py: 233] +05/27 17:27:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:27:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:27:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8689 [save_utils.py: 703] +05/27 17:27:26 INFO: [Worker 0] Successfully saved trajectory data for house_8689 in 2.58s (batch: 2.49s, save: 0.09s) [pipeline.py: 280] +05/27 17:27:27 WARNING: [Worker 0] No trajectory data to save for house_8689 [pipeline.py: 229] +05/27 17:27:27 INFO: [Worker 0] Worker 0 completed house 8689: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:27:27 INFO: [Worker 0] Worker 0 starting house 8767 (index 98/113) [pipeline.py: 473] +05/27 17:27:27 INFO: [Worker 0] Loaded 1 episodes for house 8767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 17:27:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:27:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8767_ceiling.xml [task_sampler.py: 797] +05/27 17:27:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8767, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:27:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:27:35 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 17:27:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:27:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:27:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:27:35 INFO: [Worker 0] Sampled task 'Pick up the rusty metal megaphone with handle and place it next to the rusty can' [task_sampler.py: 1136] +05/27 17:27:35 INFO: [Worker 0] Worker 0 house 8767 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:27:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:27:35 WARNING: [Worker 0] Could not find object statue_904dcacd60264237fc6f100aa873b50d_1_0_9 in scene [object_manager.py: 1238] +05/27 17:29:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:43:05 INFO: [Worker 0] Worker 0 house 8767 episode 0 object objamegaphone_65c06bc119a6426ea49dc2844e6a0044_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 17:43:08 INFO: [Worker 0] Batching and saving trajectory data for house_8767: 1 episodes [pipeline.py: 233] +05/27 17:43:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:43:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:43:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8767 [save_utils.py: 703] +05/27 17:43:11 INFO: [Worker 0] Successfully saved trajectory data for house_8767 in 2.58s (batch: 2.49s, save: 0.09s) [pipeline.py: 280] +05/27 17:43:12 WARNING: [Worker 0] No trajectory data to save for house_8767 [pipeline.py: 229] +05/27 17:43:12 INFO: [Worker 0] Worker 0 completed house 8767: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:43:12 INFO: [Worker 0] Worker 0 starting house 8857 (index 99/113) [pipeline.py: 473] +05/27 17:43:12 INFO: [Worker 0] Loaded 1 episodes for house 8857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 17:43:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:43:39 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 17:43:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8857_ceiling.xml [task_sampler.py: 797] +05/27 17:43:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8857, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:43:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:43:44 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/27 17:43:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:43:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:43:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:43:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:43:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:43:44 INFO: [Worker 0] Sampled task 'Pick up the black visor cap with colorful letters and place it next to the bear trap' [task_sampler.py: 1136] +05/27 17:43:44 INFO: [Worker 0] Worker 0 house 8857 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:43:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:43:44 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene [object_manager.py: 1238] +05/27 17:47:18 INFO: [Worker 0] Worker 0 house 8857 episode 0 object objavisorcap_aeb789836f494b2a9ca94b97d0fef8dc_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 17:47:21 INFO: [Worker 0] Batching and saving trajectory data for house_8857: 1 episodes [pipeline.py: 233] +05/27 17:47:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:47:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:47:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8857 [save_utils.py: 703] +05/27 17:47:24 INFO: [Worker 0] Successfully saved trajectory data for house_8857 in 2.58s (batch: 2.49s, save: 0.09s) [pipeline.py: 280] +05/27 17:47:25 WARNING: [Worker 0] No trajectory data to save for house_8857 [pipeline.py: 229] +05/27 17:47:25 INFO: [Worker 0] Worker 0 completed house 8857: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:47:25 INFO: [Worker 0] Worker 0 starting house 8922 (index 100/113) [pipeline.py: 473] +05/27 17:47:25 INFO: [Worker 0] Loaded 1 episodes for house 8922 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 17:47:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:47:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8922_ceiling.xml [task_sampler.py: 797] +05/27 17:47:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8922, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:47:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:47:33 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 17:47:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:47:33 INFO: [Worker 0] Sampled task 'Pick up the gray sports shoe with black swoosh and place it next to the small beige clay tablet with engravings' [task_sampler.py: 1136] +05/27 17:47:33 INFO: [Worker 0] Worker 0 house 8922 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:47:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:47:34 WARNING: [Worker 0] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene [object_manager.py: 1238] +05/27 17:47:34 WARNING: [Worker 0] Could not find object objaclaytablet_5a83321dfc4d4f60be6cb300826a248b_1_0_5 in scene [object_manager.py: 1238] +05/27 17:49:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:00:26 INFO: [Worker 0] Worker 0 house 8922 episode 0 object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_2_0_5 completed with success=False [pipeline.py: 1114] +05/27 18:00:30 INFO: [Worker 0] Batching and saving trajectory data for house_8922: 1 episodes [pipeline.py: 233] +05/27 18:00:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:00:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:00:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8922 [save_utils.py: 703] +05/27 18:00:32 INFO: [Worker 0] Successfully saved trajectory data for house_8922 in 2.51s (batch: 2.43s, save: 0.09s) [pipeline.py: 280] +05/27 18:00:33 WARNING: [Worker 0] No trajectory data to save for house_8922 [pipeline.py: 229] +05/27 18:00:33 INFO: [Worker 0] Worker 0 completed house 8922: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:00:33 INFO: [Worker 0] Worker 0 starting house 8993 (index 101/113) [pipeline.py: 473] +05/27 18:00:33 INFO: [Worker 0] Loaded 1 episodes for house 8993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 18:00:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:00:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8993_ceiling.xml [task_sampler.py: 797] +05/27 18:00:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8993, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:00:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:00:34 INFO: [Worker 0] randomize_scene: Setting poses for 15 objects [json_eval_task_sampler.py: 686] +05/27 18:00:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:00:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:00:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:00:34 INFO: [Worker 0] Sampled task 'Pick up the pale bone with small triangular teeth and place it next to the green bronze mask with cutouts' [task_sampler.py: 1136] +05/27 18:00:34 INFO: [Worker 0] Worker 0 house 8993 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:00:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:07:16 INFO: [Worker 0] Worker 0 house 8993 episode 0 object objabone_8c1d6040fd2f490981bf87dd4bcb636c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 18:07:19 INFO: [Worker 0] Batching and saving trajectory data for house_8993: 1 episodes [pipeline.py: 233] +05/27 18:07:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:07:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:07:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8993 [save_utils.py: 703] +05/27 18:07:22 INFO: [Worker 0] Successfully saved trajectory data for house_8993 in 2.50s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/27 18:07:22 WARNING: [Worker 0] No trajectory data to save for house_8993 [pipeline.py: 229] +05/27 18:07:22 INFO: [Worker 0] Worker 0 completed house 8993: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:07:22 INFO: [Worker 0] Worker 0 starting house 9054 (index 102/113) [pipeline.py: 473] +05/27 18:07:22 INFO: [Worker 0] Loaded 1 episodes for house 9054 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 18:07:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:07:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9054_ceiling.xml [task_sampler.py: 797] +05/27 18:07:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9054, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:07:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:07:35 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/27 18:07:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:07:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:07:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:07:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:07:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:07:35 INFO: [Worker 0] Sampled task 'Pick up the metal spring and place it next to the green insect head' [task_sampler.py: 1136] +05/27 18:07:35 INFO: [Worker 0] Worker 0 house 9054 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:07:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:09:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:24:02 INFO: [Worker 0] Worker 0 house 9054 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:24:05 INFO: [Worker 0] Batching and saving trajectory data for house_9054: 1 episodes [pipeline.py: 233] +05/27 18:24:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:24:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:24:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9054 [save_utils.py: 703] +05/27 18:24:09 INFO: [Worker 0] Successfully saved trajectory data for house_9054 in 2.58s (batch: 2.49s, save: 0.09s) [pipeline.py: 280] +05/27 18:24:09 WARNING: [Worker 0] No trajectory data to save for house_9054 [pipeline.py: 229] +05/27 18:24:09 INFO: [Worker 0] Worker 0 completed house 9054: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:24:09 INFO: [Worker 0] Worker 0 starting house 9112 (index 103/113) [pipeline.py: 473] +05/27 18:24:09 INFO: [Worker 0] Loaded 1 episodes for house 9112 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 18:24:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:24:28 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 18:24:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9112_ceiling.xml [task_sampler.py: 797] +05/27 18:24:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9112, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:24:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:24:33 INFO: [Worker 0] randomize_scene: Setting poses for 92 objects [json_eval_task_sampler.py: 686] +05/27 18:24:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:24:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:24:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:24:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:24:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:24:33 INFO: [Worker 0] Sampled task 'Pick up the pink orchid branch and place it next to the spray bottle' [task_sampler.py: 1136] +05/27 18:24:33 INFO: [Worker 0] Worker 0 house 9112 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:24:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:24:33 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 18:24:33 WARNING: [Worker 0] Could not find object houseplant_221bd4f07cb4337aa672d00523ed9982_1_0_6 in scene [object_manager.py: 1238] +05/27 18:24:33 WARNING: [Worker 0] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_6 in scene [object_manager.py: 1238] +05/27 18:40:09 INFO: [Worker 0] Worker 0 house 9112 episode 0 object objaflower_bb02fbe0066d40a2a5429a02735c0ef6_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 18:40:12 INFO: [Worker 0] Batching and saving trajectory data for house_9112: 1 episodes [pipeline.py: 233] +05/27 18:40:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:40:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:40:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9112 [save_utils.py: 703] +05/27 18:40:15 INFO: [Worker 0] Successfully saved trajectory data for house_9112 in 2.68s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/27 18:40:16 WARNING: [Worker 0] No trajectory data to save for house_9112 [pipeline.py: 229] +05/27 18:40:16 INFO: [Worker 0] Worker 0 completed house 9112: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:40:16 INFO: [Worker 0] Worker 0 starting house 9173 (index 104/113) [pipeline.py: 473] +05/27 18:40:16 INFO: [Worker 0] Loaded 1 episodes for house 9173 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 18:40:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:40:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9173_ceiling.xml [task_sampler.py: 797] +05/27 18:40:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9173, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:40:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:40:19 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 18:40:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:40:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:40:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:40:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:40:19 INFO: [Worker 0] Sampled task 'Pick up the measuring device and place it next to the small beige clay tablet with engravings' [task_sampler.py: 1136] +05/27 18:40:19 INFO: [Worker 0] Worker 0 house 9173 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:40:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:40:19 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_3 in scene [object_manager.py: 1238] +05/27 18:40:19 WARNING: [Worker 0] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 in scene [object_manager.py: 1238] +05/27 18:41:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:53:34 INFO: [Worker 0] Worker 0 house 9173 episode 0 object objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 18:53:38 INFO: [Worker 0] Batching and saving trajectory data for house_9173: 1 episodes [pipeline.py: 233] +05/27 18:53:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:53:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:53:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9173 [save_utils.py: 703] +05/27 18:53:40 INFO: [Worker 0] Successfully saved trajectory data for house_9173 in 2.77s (batch: 2.67s, save: 0.10s) [pipeline.py: 280] +05/27 18:53:41 WARNING: [Worker 0] No trajectory data to save for house_9173 [pipeline.py: 229] +05/27 18:53:41 INFO: [Worker 0] Worker 0 completed house 9173: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:53:41 INFO: [Worker 0] Worker 0 starting house 9279 (index 105/113) [pipeline.py: 473] +05/27 18:53:41 INFO: [Worker 0] Loaded 1 episodes for house 9279 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 18:53:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:53:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9279_ceiling.xml [task_sampler.py: 797] +05/27 18:53:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9279, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:53:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:53:46 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 18:53:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:53:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:53:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:53:46 INFO: [Worker 0] Sampled task 'Pick up the motion-picture camera and place it next to the sleek dark portable laptop with keyboard' [task_sampler.py: 1136] +05/27 18:53:46 INFO: [Worker 0] Worker 0 house 9279 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:53:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:55:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:04:37 INFO: [Worker 0] Worker 0 house 9279 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 19:04:41 INFO: [Worker 0] Batching and saving trajectory data for house_9279: 1 episodes [pipeline.py: 233] +05/27 19:04:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:04:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:04:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9279 [save_utils.py: 703] +05/27 19:04:44 INFO: [Worker 0] Successfully saved trajectory data for house_9279 in 2.71s (batch: 2.62s, save: 0.09s) [pipeline.py: 280] +05/27 19:04:44 WARNING: [Worker 0] No trajectory data to save for house_9279 [pipeline.py: 229] +05/27 19:04:44 INFO: [Worker 0] Worker 0 completed house 9279: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:04:44 INFO: [Worker 0] Worker 0 starting house 9343 (index 106/113) [pipeline.py: 473] +05/27 19:04:44 INFO: [Worker 0] Loaded 1 episodes for house 9343 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 19:04:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:04:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9343_ceiling.xml [task_sampler.py: 797] +05/27 19:04:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9343, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:04:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:04:58 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 19:04:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:04:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:04:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:04:58 INFO: [Worker 0] Sampled task 'Pick up the conical purple sweet potato with texture and place it next to the large deep red ripe tomato' [task_sampler.py: 1136] +05/27 19:04:58 INFO: [Worker 0] Worker 0 house 9343 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:04:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:17:48 INFO: [Worker 0] Worker 0 house 9343 episode 0 object objavegetable_3ea7a361c376454aa22ce6c30e905e13_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 19:17:52 INFO: [Worker 0] Batching and saving trajectory data for house_9343: 1 episodes [pipeline.py: 233] +05/27 19:17:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:17:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:17:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9343 [save_utils.py: 703] +05/27 19:17:54 INFO: [Worker 0] Successfully saved trajectory data for house_9343 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 19:17:55 WARNING: [Worker 0] No trajectory data to save for house_9343 [pipeline.py: 229] +05/27 19:17:55 INFO: [Worker 0] Worker 0 completed house 9343: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:17:55 INFO: [Worker 0] Worker 0 starting house 9476 (index 107/113) [pipeline.py: 473] +05/27 19:17:55 INFO: [Worker 0] Loaded 1 episodes for house 9476 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 19:17:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:17:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9476_ceiling.xml [task_sampler.py: 797] +05/27 19:17:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9476, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:17:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:17:58 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/27 19:17:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:17:58 INFO: [Worker 0] Sampled task 'Pick up the white candle holder and place it next to the green military helicopter' [task_sampler.py: 1136] +05/27 19:17:58 INFO: [Worker 0] Worker 0 house 9476 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:17:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:19:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:26:42 INFO: [Worker 0] Worker 0 house 9476 episode 0 object objacandlestickholder_7961a71d5af04bcea18476847c200c00_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 19:26:45 INFO: [Worker 0] Batching and saving trajectory data for house_9476: 1 episodes [pipeline.py: 233] +05/27 19:26:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:26:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:26:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9476 [save_utils.py: 703] +05/27 19:26:48 INFO: [Worker 0] Successfully saved trajectory data for house_9476 in 2.66s (batch: 2.56s, save: 0.10s) [pipeline.py: 280] +05/27 19:26:48 WARNING: [Worker 0] No trajectory data to save for house_9476 [pipeline.py: 229] +05/27 19:26:48 INFO: [Worker 0] Worker 0 completed house 9476: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:26:48 INFO: [Worker 0] Worker 0 starting house 9522 (index 108/113) [pipeline.py: 473] +05/27 19:26:48 INFO: [Worker 0] Loaded 1 episodes for house 9522 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 19:26:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:26:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9522_ceiling.xml [task_sampler.py: 797] +05/27 19:26:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9522, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:26:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:26:52 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 19:26:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:26:52 INFO: [Worker 0] Sampled task 'Pick up the triangular pale stone and place it next to the pineapple with crown' [task_sampler.py: 1136] +05/27 19:26:52 INFO: [Worker 0] Worker 0 house 9522 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:26:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:28:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:40:11 INFO: [Worker 0] Worker 0 house 9522 episode 0 object objastonetoolreplica_a5eac68b8d9145d4a4674a3437c700ce_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 19:40:14 INFO: [Worker 0] Batching and saving trajectory data for house_9522: 1 episodes [pipeline.py: 233] +05/27 19:40:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:40:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:40:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9522 [save_utils.py: 703] +05/27 19:40:17 INFO: [Worker 0] Successfully saved trajectory data for house_9522 in 2.51s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/27 19:40:17 WARNING: [Worker 0] No trajectory data to save for house_9522 [pipeline.py: 229] +05/27 19:40:17 INFO: [Worker 0] Worker 0 completed house 9522: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:40:17 INFO: [Worker 0] Worker 0 starting house 9603 (index 109/113) [pipeline.py: 473] +05/27 19:40:17 INFO: [Worker 0] Loaded 1 episodes for house 9603 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 19:40:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:40:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9603_ceiling.xml [task_sampler.py: 797] +05/27 19:40:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9603, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:40:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:40:43 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/27 19:40:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:40:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:40:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:40:43 INFO: [Worker 0] Sampled task 'Pick up the circular disc with colorful front design and place it next to the detailed model of horse skull' [task_sampler.py: 1136] +05/27 19:40:43 INFO: [Worker 0] Worker 0 house 9603 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:40:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:59:28 INFO: [Worker 0] Worker 0 house 9603 episode 0 object objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 19:59:31 INFO: [Worker 0] Batching and saving trajectory data for house_9603: 1 episodes [pipeline.py: 233] +05/27 19:59:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:59:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:59:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9603 [save_utils.py: 703] +05/27 19:59:34 INFO: [Worker 0] Successfully saved trajectory data for house_9603 in 2.58s (batch: 2.49s, save: 0.10s) [pipeline.py: 280] +05/27 19:59:34 WARNING: [Worker 0] No trajectory data to save for house_9603 [pipeline.py: 229] +05/27 19:59:34 INFO: [Worker 0] Worker 0 completed house 9603: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:59:34 INFO: [Worker 0] Worker 0 starting house 9662 (index 110/113) [pipeline.py: 473] +05/27 19:59:34 INFO: [Worker 0] Loaded 1 episodes for house 9662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 19:59:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:59:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9662_ceiling.xml [task_sampler.py: 797] +05/27 19:59:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9662, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:59:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:59:38 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/27 19:59:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:59:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:59:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:59:38 INFO: [Worker 0] Sampled task 'Pick up the black spray can and place it next to the green mossy strip with jagged edges' [task_sampler.py: 1136] +05/27 19:59:38 INFO: [Worker 0] Worker 0 house 9662 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:59:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:01:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:07:28 INFO: [Worker 0] Worker 0 house 9662 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:07:31 INFO: [Worker 0] Batching and saving trajectory data for house_9662: 1 episodes [pipeline.py: 233] +05/27 20:07:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:07:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:07:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9662 [save_utils.py: 703] +05/27 20:07:34 INFO: [Worker 0] Successfully saved trajectory data for house_9662 in 2.65s (batch: 2.56s, save: 0.09s) [pipeline.py: 280] +05/27 20:07:34 WARNING: [Worker 0] No trajectory data to save for house_9662 [pipeline.py: 229] +05/27 20:07:34 INFO: [Worker 0] Worker 0 completed house 9662: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:07:34 INFO: [Worker 0] Worker 0 starting house 9764 (index 111/113) [pipeline.py: 473] +05/27 20:07:34 INFO: [Worker 0] Loaded 1 episodes for house 9764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 20:07:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:07:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9764_ceiling.xml [task_sampler.py: 797] +05/27 20:07:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9764, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:07:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:07:37 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/27 20:07:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:07:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:07:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:07:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:07:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:07:37 INFO: [Worker 0] Sampled task 'Pick up the green armored character card with text and place it next to the white and gray modern smart speaker' [task_sampler.py: 1136] +05/27 20:07:37 INFO: [Worker 0] Worker 0 house 9764 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:07:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:15:48 INFO: [Worker 0] Worker 0 house 9764 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 20:15:51 INFO: [Worker 0] Batching and saving trajectory data for house_9764: 1 episodes [pipeline.py: 233] +05/27 20:15:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:15:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:15:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9764 [save_utils.py: 703] +05/27 20:15:54 INFO: [Worker 0] Successfully saved trajectory data for house_9764 in 2.52s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/27 20:15:54 WARNING: [Worker 0] No trajectory data to save for house_9764 [pipeline.py: 229] +05/27 20:15:54 INFO: [Worker 0] Worker 0 completed house 9764: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:15:54 INFO: [Worker 0] Worker 0 starting house 9915 (index 112/113) [pipeline.py: 473] +05/27 20:15:54 INFO: [Worker 0] Loaded 1 episodes for house 9915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/27 20:15:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:16:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9915_ceiling.xml [task_sampler.py: 797] +05/27 20:16:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9915, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:16:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:16:24 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects [json_eval_task_sampler.py: 686] +05/27 20:16:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:16:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:16:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:16:24 INFO: [Worker 0] Sampled task 'Pick up the rectangular green tissue box with tissues and place it next to the pink cellphone' [task_sampler.py: 1136] +05/27 20:16:24 INFO: [Worker 0] Worker 0 house 9915 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:16:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:18:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:22:34 INFO: [Worker 0] Worker 0 house 9915 episode 0 object objatissuebox_2bd98e8ea09f49bd85453a927011d31d_2_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:22:38 INFO: [Worker 0] Batching and saving trajectory data for house_9915: 1 episodes [pipeline.py: 233] +05/27 20:22:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:22:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:22:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9915 [save_utils.py: 703] +05/27 20:22:40 INFO: [Worker 0] Successfully saved trajectory data for house_9915 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 20:22:41 WARNING: [Worker 0] No trajectory data to save for house_9915 [pipeline.py: 229] +05/27 20:22:41 INFO: [Worker 0] Worker 0 completed house 9915: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:22:41 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/27 20:22:41 INFO: Completed 113 houses, skipped 0 houses [pipeline.py: 1496] +05/27 20:22:41 INFO: Success count: 2, Total count: 117 [pipeline.py: 1499] +05/27 20:22:41 INFO: Success rate: 1.71% [pipeline.py: 1500] diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f432543669af04edceaa3fa3e7c4c5e096457428 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/episode_results.jsonl @@ -0,0 +1,117 @@ +{"house_id": "house_1015", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate vintage brass bell and place it next to the white quilted pillow", "object_name": "objadecorativebell_0e38f4e9fecb4dd49f7e4aa00fcc121d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1015/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1113", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round stone weight with metal ring and place it next to the green plastic spray bottle", "object_name": "objaweight_fceabaa7a09d4072b6befd0625cb4031_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1113/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green gemstone and place it next to the red spaceship", "object_name": "objagemstone_f465cd539c064a27ad4f7e57c84afb7c_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1140", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the greek kylix and place it next to the small green house plant in pot", "object_name": "objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1208", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate bronze bell with engravings and place it next to the soft white pillow with quilting", "object_name": "objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1208/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1280", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy teal ceramic cat with patterns and place it next to the blue mushroom", "object_name": "objaceramiccat_eda025dda9404765b762d841da229c33_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1280/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1351", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 263, "task_description": "Pick up the ceramic jug and place it next to the tall dark cup with ridges base", "object_name": "objaceramicjug_4ce0f5ece3c7422c9ec23470cc38b088_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1351/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1426", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the push-button radio and place it next to the colored hardcover sketchbook", "object_name": "objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1426/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1572", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compass and place it next to the brown cardboard box", "object_name": "objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1572/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1695", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the breadstuff and place it next to the bulbous shiny gold metallic vase", "object_name": "objapastry_02f82d69871941859c7cd594bb3fc0b4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1695/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1749", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden gavel with decorative cord and place it next to the ancient fossilized skull", "object_name": "objagavel_8bdbe3dbca7b49b488026595937f5009_1_0_2", "data_file_path": 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"Pick up the red apple and place it next to the red rectangular lucky charms box", "object_name": "apple_3076d24521ee5e895156b37b1b9fb130_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1930/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2032", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red lighthouse with framework and place it next to the purple spray bottle with nozzle", "object_name": "objalighthouse_38f4ca24b0e94683b7becccda1b8f9ca_1_0_5", "data_file_path": 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brown shrew figure and place it next to the armour plate", "object_name": "objaanimalsculpture_1dc0a7826fdd4279b8041fab6c370d07_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2232/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2342", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown spotted ceramic animal vessel and place it next to the spray bottle", "object_name": "objaceramicvessel_c292b6f0b87b4272ba67504efdda2958_1_0_6", "data_file_path": 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"task_description": "Pick up the beige spatula and place it next to the smooth beige egg", "object_name": "objaspatula_8208e17164a04672bfabc6152ff43e71_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2498/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2634", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paper cup with starbucks logo and place it next to the bulbous shiny gold vase", "object_name": "objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_8", "data_file_path": 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clay tablet with engravings and place it next to the gray sports shoe with black swoosh", "object_name": "objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2843/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2922", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gnome with red hat and place it next to the translucent ergonomic spray bottle", "object_name": "objagardengnome_a6cecca0308e43878a034c5f45b098a9_1_0_8", "data_file_path": 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"Pick up the colorful geometric molecular model and place it next to the white toy cannon with yellow spirals", "object_name": "objaeducationaltoy_6b36a0d3ca22472280b1d9c57dfd88b6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3148/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3239", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth plastic realistic hand model and place it next to the thick hardcover blue book", "object_name": "objahandmodel_ed06e3aa4fea4cd9b37746b2101d4ca5_1_0_2", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the light rectangular amulet with figure and place it next to the gold vase", "object_name": "objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3368/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3416", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wavy strip with gradient and place it next to the smooth green rectangular pillow cushion", "object_name": "objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3416/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3514", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green plastic package and place it next to the tall vase with scalloped rim", "object_name": "objasnackpackage_4b807308e65c4ecd85b8bb1cd5d8da4a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3514/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3588", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wooden tool and place it next to the polished smooth rounded blue bowl", "object_name": "objawoodentool_6727d5933a6f4097a678f6ee8b3d1de0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3588/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3718", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the geologicalspecimen and place it next to the pencil", "object_name": "objageologicalspecimen_226e782eecfb47018de9a781a77276d0_1_0_8", "data_file_path": 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beige ceramic lid with central knob and place it next to the translucent ergonomic spray bottle", "object_name": "objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3900/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green nameplate and place it next to the glossy wooden tapered cup", "object_name": "objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_6", "data_file_path": 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"task_description": "Pick up the lifelike yellow striped wasp model and place it next to the weathered stone disc", "object_name": "objainsect_f384c01929c74ff49375cb5f79f03466_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4028/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4115", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal pliers tool and place it next to the blue patterned phone", "object_name": "objapliers_0aad9dd2a4cf4eb28b87b0e67dc7ec18_1_0_6", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the vintage black camera and place it next to the bulbous shiny gold metallic vase", "object_name": "objacamera_f49a08efb8a544efb98d4d806b0d1c27_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4266/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4306", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown leather high-top boot and place it next to the brown cardboard box open", "object_name": "objaboot_83072c9d2cf54194a165897bc77196c1_1_0_6", "data_file_path": 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keychain and place it next to the smooth yellow egg with black zigzag", "object_name": "objakeychainholder_073e7cc7e9cf4968afc05d50528c7f9b_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4476/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4577", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ginger root and place it next to the blue spray bottle", "object_name": "objagingerroot_e8e250f94c6a4c51b71f15e1a3b36e25_1_0_6", "data_file_path": 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"task_description": "Pick up the green armored character card with text and place it next to the conical soap bottle with pump", "object_name": "objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4692/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4766", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white egg and place it next to the tall dark cup with ridges base", "object_name": "egg_768abcb7b01b3935a0261a8d2ef92b12_1_0_2", "data_file_path": 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"task_description": "Pick up the rustic stone cup with hole and place it next to the vibrant abstract sculpture with colorful ribbons", "object_name": "objastonecup_5ef91e0bfe7b44da9f1d2944386cce85_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4929/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5015", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red plastic cup with white interior and place it next to the pink daisy blooming in pot", "object_name": "objaplasticcup_84d301b896084a2f94f2835dd4ba2d94_1_0_6", "data_file_path": 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"Pick up the bronze buckle with cowboy and place it next to the golden brown artisanal loaf of bread", "object_name": "objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5148/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5148", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the modern white tape dispenser and place it next to the black radiator with looping copper tubes", "object_name": "objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the blowtorch and place it next to the realistic pink brain model", "object_name": "objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5288/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5445", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden mug with handle and place it next to the aerosol container", "object_name": "objamug_8529afb010814c188970381c3596afef_1_0_8", "data_file_path": 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"task_description": "Pick up the stone fish decor and place it next to the textured octagonal translucent soap bottle", "object_name": "objadecorativefish_5a1f0f032b2a4774887620ca540318c4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5596/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5652", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white decorative corner molding and place it next to the transparent soap bottle with dark pump", "object_name": "objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5652/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5755", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful geometric molecular model and place it next to the muscleman hanging on yellow rings", "object_name": "objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5755/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5867", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy black sign with pink and place it next to the glossy black sign with pink", "object_name": "objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5867/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5914", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage black film camera and place it next to the curved golden prism with ship", "object_name": "objafilmcamera_1d9723e8400443fabf6ed8a52b9a208d_1_0_3", "data_file_path": 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449, "task_description": "Pick up the blue star-shaped mold with patterns and place it next to the tall dark cup with ridges base", "object_name": "objamold_225720a070c046dba53c77e9a0a7716f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6100/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6170", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green packet and place it next to the decorative goblet with ribbon bow", "object_name": "objapacket_30d0d5de961f4a889aeac04b1e81cd61_1_0_2", "data_file_path": 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"task_description": "Pick up the blue metallic disc and place it next to the bulbous shiny gold vase", "object_name": "objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6293/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6378", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive off-white stone arrowhead tool and place it next to the white hardcover book about programming", "object_name": "objastonetool_ecbf9010c8ff4544867d28d237dab330_1_0_4", "data_file_path": 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"task_description": "Pick up the gamingmouse and place it next to the faded blue vintage car", "object_name": "objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6533/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_656", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark nhl pencilcase and place it next to the simple light brown ceramic bowl", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4", "data_file_path": 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hammer with wooden handle and place it next to the metallic brushed stainless steel toaster", "object_name": "objastonehammer_5222cf9dedae4a31882281f6d7bada89_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6755/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6858", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ergonomic black handheld scanner and place it next to the blue glossy vase", "object_name": "objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_4", "data_file_path": 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the large bulbous garlic with dried stem and place it next to the dark gray plate with ridges", "object_name": "objagarlicbulb_0ba46093caff4ef7b415279e4a28e3cc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6995/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7065", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark nhl pencilcase and place it next to the vibrant floral mug with handle", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_6", "data_file_path": 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"task_description": "Pick up the cellphone and place it next to the bronze full-figured statue", "object_name": "objamobilephone_89cc4e542641469586dcd9274fc7fc61_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_720/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7230", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue retro-style cassette player and place it next to the blue square ceramic plate", "object_name": "objacassetteplayer_14daacbaf0f94f458851e15dfd717426_2_0_3", "data_file_path": 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"task_description": "Pick up the butt hinge and place it next to the black white striped decorative award", "object_name": "objaconcealedhinge_dc23e9723bdc42fa8f79ff643bcc68e3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7347/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7347", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue wavy porous cleaning sponge and place it next to the cup", "object_name": "objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_6", "data_file_path": 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"task_description": "Pick up the spherical polished brown wooden yo-yo and place it next to the open brown cardboard box for packaging", "object_name": "objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7440/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7504", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black espresso pot and place it next to the sleek dark portable laptop with keyboard", "object_name": "objamokapot_e359184cea054cb09b5c603845cb0231_1_0_4", "data_file_path": 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with base and place it next to the thick blue hardcover programming book", "object_name": "objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_763/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7740", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange and green cube and place it next to the gray elongated stone", "object_name": "objapuzzletoy_3b74eeb531ca4f49a0274e2887526aee_1_0_8", "data_file_path": 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449, "task_description": "Pick up the brown clay dish with handle and place it next to the fresh green lettuce with stem", "object_name": "objaclaydish_74d08c7da86943e19fe4667bf039bf03_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7923/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7997", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown potato and place it next to the bronze female statue", "object_name": "Irishpotato_121f03310f70f545adbe1151e4ea4b7f_1_0_6", "data_file_path": 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"task_description": "Pick up the gray cooking pot and place it next to the brown bread", "object_name": "pot_b37a4855fab8cf0217449f68b5c47ef4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8183/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8247", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gnome with red hat and place it next to the glossy blue vase", "object_name": "objagardengnome_581405b5a63b40aba342e1356700e464_1_0_2", "data_file_path": 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"Pick up the wooden house keyholder and place it next to the black patterned orb", "object_name": "objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8326/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8402", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular switch plate and place it next to the small beige clay tablet with engravings", "object_name": "objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_7", "data_file_path": 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round white garlic bulb with ridges and place it next to the medium ripe red tomato with stem", "object_name": "objagarlic_c7db153e97a94acdbd45824ca668497a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8562/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8689", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paint roller and place it next to the olive scalloped ceramic plate", "object_name": "objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8689/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty metal megaphone with handle and place it next to the rusty can", "object_name": "objamegaphone_65c06bc119a6426ea49dc2844e6a0044_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8767/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8857", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black visor cap with colorful letters and place it next to the bear trap", "object_name": "objavisorcap_aeb789836f494b2a9ca94b97d0fef8dc_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8857/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8922", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray sports shoe with black swoosh and place it next to the small beige clay tablet with engravings", "object_name": "objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_2_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8922/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8993", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pale bone with small triangular teeth and place it next to the green bronze mask with cutouts", "object_name": "objabone_8c1d6040fd2f490981bf87dd4bcb636c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8993/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_902", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown rusty cylindrical vintage oilcan and place it next to the large stainless steel pot", "object_name": "objaoilcan_933032bd54804ebc9b8cfd1c6a46a15e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_902/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9054", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal spring and place it next to the green insect head", "object_name": "objaspring_310f124af29745708b5393d7197d6fd5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9054/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9112", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink orchid branch and place it next to the spray bottle", "object_name": "objaflower_bb02fbe0066d40a2a5429a02735c0ef6_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9112/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9173", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the measuring device and place it next to the small beige clay tablet with engravings", "object_name": "objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9173/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9279", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the motion-picture camera and place it next to the sleek dark portable laptop with keyboard", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9279/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9343", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the conical purple sweet potato with texture and place it next to the large deep red ripe tomato", "object_name": "objavegetable_3ea7a361c376454aa22ce6c30e905e13_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9343/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9476", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white candle holder and place it next to the green military helicopter", "object_name": "objacandlestickholder_7961a71d5af04bcea18476847c200c00_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9476/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9522", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular pale stone and place it next to the pineapple with crown", "object_name": "objastonetoolreplica_a5eac68b8d9145d4a4674a3437c700ce_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9522/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9603", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular disc with colorful front design and place it next to the detailed model of horse skull", "object_name": "objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9603/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9662", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spray can and place it next to the green mossy strip with jagged edges", "object_name": "objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9662/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9764", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green armored character card with text and place it next to the white and gray modern smart speaker", "object_name": "objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9764/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9915", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular green tissue box with tissues and place it next to the pink cellphone", "object_name": "objatissuebox_2bd98e8ea09f49bd85453a927011d31d_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9915/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..5425a329ed522d25b134ac716f6ca2e2211e6d8f --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/eval.log @@ -0,0 +1,3664 @@ +[2026-05-26 19:43:51,224] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,226] INFO Using MuJoCo EGL device id: 3 +[2026-05-26 19:43:51,226] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,256] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 (source=arg) +[2026-05-26 19:43:53,231] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:04,147] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,280] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,752] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:15 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:15,796] INFO JsonEvalRunner initialized: 113 houses, 117 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 19:48:15 INFO pipeline.py:1279] Starting house-by-house rollout of 113 houses with 2 episodes each (226 total episodes) using 1 worker processes +[05/26 19:48:15 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:15 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [656, + 720, + 763, + 827, + 902, + 1015, + 1113, + 1140, + 1208, + 1280, + 1351, + 1426, + 1572, + 1695, + 1749, + 1828, + 1930, + 2032, + 2109, + 2232, + 2342, + 2458, + 2498, + 2634, + 2767, + 2843, + 2922, + 3043, + 3148, + 3239, + 3283, + 3368, + 3416, + 3514, + 3588, + 3718, + 3759, + 3900, + 3991, + 4028, + 4115, + 4198, + 4266, + 4306, + 4385, + 4476, + 4577, + 4654, + 4692, + 4766, + 4863, + 4929, + 5015, + 5130, + 5148, + 5186, + 5288, + 5445, + 5523, + 5596, + 5652, + 5755, + 5867, + 5914, + 6011, + 6100, + 6170, + 6250, + 6293, + 6378, + 6430, + 6533, + 6672, + 6755, + 6858, + 6934, + 6995, + 7065, + 7148, + 7230, + 7333, + 7347, + 7363, + 7440, + 7504, + 7625, + 7740, + 7841, + 7923, + 7997, + 8098, + 8183, + 8247, + 8326, + 8402, + 8481, + 8562, + 8689, + 8767, + 8857, + 8922, + 8993, + 9054, + 9112, + 9173, + 9279, + 9343, + 9476, + 9522, + 9603, + 9662, + 9764, + 9915], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:15,801] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:15 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:15 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 656 (index 0/113) +[05/26 19:48:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 19:48:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 19:48:33 Worker 0 WARNING object_manager.py:1238] Could not find object objacanvas_3ab20a02d16a492e82f8b7691cf8dd22_1_0_2 in scene +Goal: place dark nhl pencilcase next to simple light brown ceramic bowl +2026-05-26 19:48:34.038 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:35,001] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:36,909] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:37,539] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:37,789] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:37,793] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 19:58:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 656 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4 completed with success=False +[05/26 19:59:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_656: 1 episodes +[05/26 19:59:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:59:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:59:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_656 +[05/26 19:59:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_656 in 2.49s (batch: 2.40s, save: 0.09s) +[05/26 19:59:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_656 +[05/26 19:59:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 656: 0/1 successful episodes +[05/26 19:59:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 720 (index 1/113) +[05/26 19:59:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 720 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 19:59:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place cellphone next to bronze full-figured statue +[2026-05-26 20:00:22,907] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:00:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:14:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 720 episode 0 object objamobilephone_89cc4e542641469586dcd9274fc7fc61_1_0_9 completed with success=False +[05/26 20:14:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_720: 1 episodes +[05/26 20:14:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:14:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:14:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_720 +[05/26 20:14:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_720 in 2.67s (batch: 2.59s, save: 0.09s) +[05/26 20:14:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_720 +[05/26 20:14:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 720: 0/1 successful episodes +[05/26 20:14:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 763 (index 2/113) +[05/26 20:14:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:14:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/5 [00:00 does not support tracking retries. +Goal: place tall golden spike with base next to thick blue hardcover programming book +[2026-05-26 20:16:00,796] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:20:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 763 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_2 completed with success=False +[05/26 20:21:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_763: 1 episodes +[05/26 20:21:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:21:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:21:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_763 +[05/26 20:21:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_763 in 2.59s (batch: 2.50s, save: 0.08s) +[05/26 20:21:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_763 +[05/26 20:21:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 763: 0/1 successful episodes +[05/26 20:21:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 827 (index 3/113) +[05/26 20:21:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 827 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:21:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place black spherical bomb with fuse next to green spherical topiary +[2026-05-26 20:22:38,602] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:23:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:35:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 827 episode 0 object objabomb_dde8319900f34ee78b0cb7674d99d689_1_0_4 completed with success=False +[05/26 20:35:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_827: 1 episodes +[05/26 20:35:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:35:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:35:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_827 +[05/26 20:35:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_827 in 2.70s (batch: 2.60s, save: 0.10s) +[05/26 20:35:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_827 +[05/26 20:35:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 827: 0/1 successful episodes +[05/26 20:35:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 902 (index 4/113) +[05/26 20:35:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:35:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 20:35:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place brown rusty cylindrical vintage oilcan next to large stainless steel pot +[2026-05-26 20:36:29,697] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:37:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:46:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 902 episode 0 object objaoilcan_933032bd54804ebc9b8cfd1c6a46a15e_1_0_6 completed with success=False +[05/26 20:46:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_902: 1 episodes +[05/26 20:46:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:46:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:46:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_902 +[05/26 20:46:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_902 in 2.47s (batch: 2.38s, save: 0.09s) +[05/26 20:46:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_902 +[05/26 20:46:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 902: 0/1 successful episodes +[05/26 20:46:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1015 (index 5/113) +[05/26 20:46:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:46:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_4b2c3143f409251db55cb5ac5dcb1f3c_2_0_6 in scene +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_2a52cf5324d94d75c620c4f6f505fbec_1_0_6 in scene +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_02f4ae923e5b4aa7bf0d338cf7423ef7_1_0_9 in scene +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_9 in scene +Goal: place ornate vintage brass bell next to white quilted pillow +[2026-05-26 20:47:50,537] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:06:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 1015 episode 0 object objadecorativebell_0e38f4e9fecb4dd49f7e4aa00fcc121d_1_0_4 completed with success=False +[05/26 21:06:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1015: 1 episodes +[05/26 21:06:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:06:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:06:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1015 +[05/26 21:06:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1015 in 2.50s (batch: 2.42s, save: 0.09s) +[05/26 21:06:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1015 +[05/26 21:06:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1015: 0/1 successful episodes +[05/26 21:06:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1113 (index 6/113) +[05/26 21:06:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1113 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 21:06:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place round stone weight with metal ring next to green plastic spray bottle +[2026-05-26 21:08:34,301] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:09:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 1113 episode 0 object objaweight_fceabaa7a09d4072b6befd0625cb4031_1_0_2 completed with success=False +[05/26 21:10:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1113: 1 episodes +[05/26 21:10:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:10:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:10:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1113 +[05/26 21:10:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1113 in 2.70s (batch: 2.60s, save: 0.09s) +[05/26 21:10:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1113 +[05/26 21:10:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1113: 0/1 successful episodes +[05/26 21:10:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1140 (index 7/113) +[05/26 21:10:49 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 21:10:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place green gemstone next to red spaceship +[2026-05-26 21:12:12,522] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 1140 episode 0 object objagemstone_f465cd539c064a27ad4f7e57c84afb7c_1_0_4 completed with success=False +[05/26 21:28:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place greek kylix next to small green house plant in pot +[2026-05-26 21:29:53,452] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:30:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:46:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 1140 episode 1 object objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_7 completed with success=False +[05/26 21:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1140: 2 episodes +[05/26 21:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140 +[05/26 21:46:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1140 in 4.97s (batch: 4.81s, save: 0.16s) +[05/26 21:46:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1140 +[05/26 21:46:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1140: 0/2 successful episodes +[05/26 21:46:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1208 (index 8/113) +[05/26 21:46:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 21:46:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 21:46:24 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place ornate bronze bell with engravings next to soft white pillow with quilting +[2026-05-26 21:47:26,319] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:47:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:03:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 1208 episode 0 object objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4 completed with success=False +[05/26 22:03:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1208: 1 episodes +[05/26 22:03:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:03:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:03:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1208 +[05/26 22:03:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1208 in 2.68s (batch: 2.59s, save: 0.09s) +[05/26 22:03:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1208 +[05/26 22:03:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1208: 0/1 successful episodes +[05/26 22:03:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1280 (index 9/113) +[05/26 22:03:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1280 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:03:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/26 22:03:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_2 in scene +Goal: place glossy teal ceramic cat with patterns next to blue mushroom +[2026-05-26 22:04:40,387] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:05:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:13:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1280 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_7 completed with success=False +[05/26 22:13:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1280: 1 episodes +[05/26 22:13:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:13:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:13:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1280 +[05/26 22:13:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1280 in 2.57s (batch: 2.47s, save: 0.10s) +[05/26 22:13:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1280 +[05/26 22:13:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1280: 0/1 successful episodes +[05/26 22:13:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1351 (index 10/113) +[05/26 22:13:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:13:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place ceramic jug next to tall dark cup with ridges base +[2026-05-26 22:14:48,337] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:15:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:21:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 1351 episode 0 object objaceramicjug_4ce0f5ece3c7422c9ec23470cc38b088_1_0_8 completed with success=True +[05/26 22:21:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1351: 1 episodes +[05/26 22:21:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 265 timesteps +[05/26 22:21:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:21:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1351 +[05/26 22:21:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1351 in 2.44s (batch: 2.37s, save: 0.06s) +[05/26 22:21:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1351 +[05/26 22:21:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1351: 1/1 successful episodes +[05/26 22:21:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1426 (index 11/113) +[05/26 22:21:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1426 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:21:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 22:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene +[05/26 22:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place push-button radio next to colored hardcover sketchbook +[2026-05-26 22:22:20,153] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:22:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:38:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 1426 episode 0 object objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_4 completed with success=False +[05/26 22:38:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1426: 1 episodes +[05/26 22:38:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:38:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:38:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1426 +[05/26 22:38:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1426 in 2.63s (batch: 2.54s, save: 0.09s) +[05/26 22:38:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1426 +[05/26 22:38:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1426: 0/1 successful episodes +[05/26 22:38:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1572 (index 12/113) +[05/26 22:38:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:38:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place compass next to brown cardboard box +[2026-05-26 22:39:14,911] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:39:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:46:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 1572 episode 0 object objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_7 completed with success=False +[05/26 22:46:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1572: 1 episodes +[05/26 22:46:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:46:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:46:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1572 +[05/26 22:46:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1572 in 2.48s (batch: 2.39s, save: 0.09s) +[05/26 22:46:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1572 +[05/26 22:46:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1572: 0/1 successful episodes +[05/26 22:46:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1695 (index 13/113) +[05/26 22:46:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1695 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:46:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 22:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturecastletower_a08a00d32f694f219170f6867cbc7d46_1_0_5 in scene +[05/26 22:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place breadstuff next to bulbous shiny gold metallic vase +[2026-05-26 22:47:41,650] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:48:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:56:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 1695 episode 0 object objapastry_02f82d69871941859c7cd594bb3fc0b4_1_0_8 completed with success=False +[05/26 22:56:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1695: 1 episodes +[05/26 22:56:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:56:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:56:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1695 +[05/26 22:56:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1695 in 2.48s (batch: 2.39s, save: 0.09s) +[05/26 22:56:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1695 +[05/26 22:56:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1695: 0/1 successful episodes +[05/26 22:56:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1749 (index 14/113) +[05/26 22:56:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:56:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place wooden gavel with decorative cord next to ancient fossilized skull +[2026-05-26 22:57:46,069] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:07:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1749 episode 0 object objagavel_8bdbe3dbca7b49b488026595937f5009_1_0_2 completed with success=False +[05/26 23:07:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1749: 1 episodes +[05/26 23:07:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:07:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:07:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1749 +[05/26 23:07:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1749 in 2.60s (batch: 2.51s, save: 0.09s) +[05/26 23:07:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1749 +[05/26 23:07:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1749: 0/1 successful episodes +[05/26 23:07:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1828 (index 15/113) +[05/26 23:07:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1828 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:07:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place mounting bracket next to shallow white square bowl +[2026-05-26 23:09:28,715] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:10:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:22:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 1828 episode 0 object objamountingbracket_61d93824512b4446be5195ab592ae138_1_0_4 completed with success=False +[05/26 23:22:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1828: 1 episodes +[05/26 23:22:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:22:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:22:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1828 +[05/26 23:22:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1828 in 2.54s (batch: 2.45s, save: 0.09s) +[05/26 23:22:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1828 +[05/26 23:22:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1828: 0/1 successful episodes +[05/26 23:22:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1930 (index 16/113) +[05/26 23:22:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1930 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:22:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place red apple next to red rectangular lucky charms box +[2026-05-26 23:23:37,732] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:24:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:34:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1930 episode 0 object apple_3076d24521ee5e895156b37b1b9fb130_1_0_6 completed with success=False +[05/26 23:34:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1930: 1 episodes +[05/26 23:34:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:34:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:34:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1930 +[05/26 23:34:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1930 in 2.51s (batch: 2.42s, save: 0.09s) +[05/26 23:34:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1930 +[05/26 23:34:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1930: 0/1 successful episodes +[05/26 23:34:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2032 (index 17/113) +[05/26 23:34:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:34:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place red lighthouse with framework next to purple spray bottle with nozzle +[2026-05-26 23:39:03,533] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:55:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2032 episode 0 object objalighthouse_38f4ca24b0e94683b7becccda1b8f9ca_1_0_5 completed with success=False +[05/26 23:55:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2032: 1 episodes +[05/26 23:55:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:55:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:55:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2032 +[05/26 23:55:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2032 in 2.55s (batch: 2.46s, save: 0.09s) +[05/26 23:55:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2032 +[05/26 23:55:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2032: 0/1 successful episodes +[05/26 23:55:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2109 (index 18/113) +[05/26 23:55:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2109 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:55:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place wood chisel next to bronze female statue +[2026-05-27 00:03:28,303] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:17:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 2109 episode 0 object objachisel_6938a8ad91724ed29b96ef4b7beb5f23_1_0_9 completed with success=False +[05/27 00:17:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2109: 1 episodes +[05/27 00:17:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:17:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:17:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2109 +[05/27 00:17:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2109 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 00:17:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2109 +[05/27 00:17:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2109: 0/1 successful episodes +[05/27 00:17:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2232 (index 19/113) +[05/27 00:17:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2232 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 00:17:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 00:19:35 Worker 0 WARNING object_manager.py:1238] Could not find object objapaintbucket_9dec0ba6f4b9475a838f3081c10943fd_1_0_2 in scene +[05/27 00:19:35 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_7e064d39aa61ae3983505d5955fcd947_1_0_2 in scene +Goal: place small brown shrew figure next to armour plate +[2026-05-27 00:20:37,880] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:21:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:30:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 2232 episode 0 object objaanimalsculpture_1dc0a7826fdd4279b8041fab6c370d07_1_0_7 completed with success=False +[05/27 00:30:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2232: 1 episodes +[05/27 00:30:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:30:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:30:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2232 +[05/27 00:30:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2232 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 00:30:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2232 +[05/27 00:30:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2232: 0/1 successful episodes +[05/27 00:30:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2342 (index 20/113) +[05/27 00:30:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2342 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 00:30:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place brown spotted ceramic animal vessel next to spray bottle +[2026-05-27 00:31:44,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:32:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:41:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 2342 episode 0 object objaceramicvessel_c292b6f0b87b4272ba67504efdda2958_1_0_6 completed with success=False +[05/27 00:41:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2342: 1 episodes +[05/27 00:41:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:41:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:41:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2342 +[05/27 00:41:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2342 in 2.65s (batch: 2.56s, save: 0.10s) +[05/27 00:41:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2342 +[05/27 00:41:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2342: 0/1 successful episodes +[05/27 00:41:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2458 (index 21/113) +[05/27 00:41:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2458 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 00:41:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 00:42:23 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_9 in scene +[05/27 00:42:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_9 in scene +Goal: place red pagoda pop-up card next to red spiky spherical virus model +[2026-05-27 00:43:25,874] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:02:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2458 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_6 completed with success=False +[05/27 01:02:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2458: 1 episodes +[05/27 01:02:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:02:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:02:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2458 +[05/27 01:02:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2458 in 2.52s (batch: 2.42s, save: 0.09s) +[05/27 01:02:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2458 +[05/27 01:02:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2458: 0/1 successful episodes +[05/27 01:02:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2498 (index 22/113) +[05/27 01:02:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2498 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:02:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 01:04:55 Worker 0 WARNING object_manager.py:1238] Could not find object objahatchet_0dfc7c5654e945daac9bd0ab195b24ee_1_0_3 in scene +Goal: place beige spatula next to smooth beige egg +[2026-05-27 01:05:57,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:23:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 2498 episode 0 object objaspatula_8208e17164a04672bfabc6152ff43e71_1_0_2 completed with success=False +[05/27 01:23:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2498: 1 episodes +[05/27 01:23:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:23:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:23:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2498 +[05/27 01:23:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2498 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 01:23:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2498 +[05/27 01:23:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2498: 0/1 successful episodes +[05/27 01:23:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2634 (index 23/113) +[05/27 01:23:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:23:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place white paper cup with starbucks logo next to bulbous shiny gold vase +[2026-05-27 01:25:24,903] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:26:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:38:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 2634 episode 0 object objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_8 completed with success=False +[05/27 01:38:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2634: 1 episodes +[05/27 01:38:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:38:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:38:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2634 +[05/27 01:38:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2634 in 2.55s (batch: 2.46s, save: 0.09s) +[05/27 01:38:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2634 +[05/27 01:38:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2634: 0/1 successful episodes +[05/27 01:38:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2767 (index 24/113) +[05/27 01:38:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:38:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +[05/27 01:39:05 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodentag_a497eb1b77174981bc3ff68b9905287c_1_0_2 in scene +[05/27 01:39:05 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2 in scene +Goal: place brown wooden gavel next to soap bottle +[2026-05-27 01:40:08,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:40:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:46:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 2767 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False +[05/27 01:46:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2767: 1 episodes +[05/27 01:46:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:46:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:46:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2767 +[05/27 01:46:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2767 in 2.53s (batch: 2.44s, save: 0.09s) +[05/27 01:46:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2767 +[05/27 01:46:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2767: 0/1 successful episodes +[05/27 01:46:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2843 (index 25/113) +[05/27 01:46:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2843 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:46:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 01:47:04 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyairship_85970e5b079d4550b282ce7a659a8777_1_0_9 in scene +[05/27 01:47:04 Worker 0 WARNING object_manager.py:1238] Could not find object plate_6507c0d0aa81061e355e493065f753b3_1_0_9 in scene +Goal: place small beige clay tablet with engravings next to gray sports shoe with black swoosh +[2026-05-27 01:48:07,434] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:03:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 2843 episode 0 object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7 completed with success=False +[05/27 02:03:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2843: 1 episodes +[05/27 02:03:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:03:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:03:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2843 +[05/27 02:03:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2843 in 2.65s (batch: 2.53s, save: 0.12s) +[05/27 02:03:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2843 +[05/27 02:03:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2843: 0/1 successful episodes +[05/27 02:03:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2922 (index 26/113) +[05/27 02:03:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2922 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:03:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 02:04:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturebuildingmodel_41aa4d0aa1684201ae816be715e37748_1_0_9 in scene +[05/27 02:04:20 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_9 in scene +Goal: place gnome with red hat next to translucent ergonomic spray bottle +[2026-05-27 02:05:23,750] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:06:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:20:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2922 episode 0 object objagardengnome_a6cecca0308e43878a034c5f45b098a9_1_0_8 completed with success=False +[05/27 02:20:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2922: 1 episodes +[05/27 02:20:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:20:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:20:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2922 +[05/27 02:20:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2922 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 02:20:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2922 +[05/27 02:20:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2922: 0/1 successful episodes +[05/27 02:20:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3043 (index 27/113) +[05/27 02:20:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3043 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:20:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object objabowtie_c6e9f4585a054e5fb0a86b42c94d0d9b_1_0_2 in scene +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_2 in scene +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_3 in scene +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object objawallsection_a068840f0154440a9ab4c4ab73217fb5_1_0_3 in scene +Goal: place blue dotted sign wall decoration next to ripe red tomato +[2026-05-27 02:22:01,271] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:30:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 3043 episode 0 object objasignage_29124066089941bbb3fa3517a686019c_1_0_2 completed with success=False +[05/27 02:30:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3043: 1 episodes +[05/27 02:30:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:30:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:30:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3043 +[05/27 02:30:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3043 in 2.63s (batch: 2.54s, save: 0.09s) +[05/27 02:30:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3043 +[05/27 02:30:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3043: 0/1 successful episodes +[05/27 02:30:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3148 (index 28/113) +[05/27 02:30:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:30:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place colorful geometric molecular model next to white toy cannon with yellow spirals +[2026-05-27 02:32:44,430] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:33:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:45:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 3148 episode 0 object objaeducationaltoy_6b36a0d3ca22472280b1d9c57dfd88b6_1_0_6 completed with success=False +[05/27 02:45:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3148: 1 episodes +[05/27 02:45:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:46:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:46:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3148 +[05/27 02:46:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3148 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 02:46:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3148 +[05/27 02:46:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3148: 0/1 successful episodes +[05/27 02:46:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3239 (index 29/113) +[05/27 02:46:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3239 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:46:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place smooth plastic realistic hand model next to thick hardcover blue book +[2026-05-27 02:47:08,971] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:47:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:53:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3239 episode 0 object objahandmodel_ed06e3aa4fea4cd9b37746b2101d4ca5_1_0_2 completed with success=False +[05/27 02:53:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3239: 1 episodes +[05/27 02:53:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:53:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:53:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3239 +[05/27 02:53:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3239 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 02:53:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3239 +[05/27 02:53:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3239: 0/1 successful episodes +[05/27 02:53:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3283 (index 30/113) +[05/27 02:53:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:53:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place bright yellow crown with text "barbearia king next to medium smooth yellow apple with stem +[2026-05-27 02:54:41,337] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:04:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3283 episode 0 object objacrown_5847bde4308c4d9da7345bff00cb4d55_1_0_6 completed with success=False +[05/27 03:04:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3283: 1 episodes +[05/27 03:04:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:04:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:04:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3283 +[05/27 03:04:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3283 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 03:04:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3283 +[05/27 03:04:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3283: 0/1 successful episodes +[05/27 03:04:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3368 (index 31/113) +[05/27 03:04:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3368 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:04:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 03:04:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place light rectangular amulet with figure next to gold vase +[2026-05-27 03:05:22,514] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:05:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:17:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3368 episode 0 object objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_8 completed with success=False +[05/27 03:17:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3368: 1 episodes +[05/27 03:17:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:17:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:17:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3368 +[05/27 03:17:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3368 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 03:17:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3368 +[05/27 03:17:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3368: 0/1 successful episodes +[05/27 03:17:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3416 (index 32/113) +[05/27 03:17:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:17:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place wavy strip with gradient next to smooth green rectangular pillow cushion +[2026-05-27 03:18:44,217] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:31:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3416 episode 0 object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_9 completed with success=False +[05/27 03:31:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3416: 1 episodes +[05/27 03:31:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:31:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:31:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3416 +[05/27 03:31:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3416 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 03:31:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3416 +[05/27 03:31:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3416: 0/1 successful episodes +[05/27 03:31:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3514 (index 33/113) +[05/27 03:31:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:31:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place green plastic package next to tall vase with scalloped rim +[2026-05-27 03:32:39,744] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:33:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:34:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3514 episode 0 object objasnackpackage_4b807308e65c4ecd85b8bb1cd5d8da4a_1_0_2 completed with success=False +[05/27 03:34:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3514: 1 episodes +[05/27 03:34:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:34:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:34:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3514 +[05/27 03:34:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3514 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 03:34:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3514 +[05/27 03:34:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3514: 0/1 successful episodes +[05/27 03:34:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3588 (index 34/113) +[05/27 03:34:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3588 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:34:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place dark wooden tool next to polished smooth rounded blue bowl +[2026-05-27 03:35:48,232] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:36:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:43:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 3588 episode 0 object objawoodentool_6727d5933a6f4097a678f6ee8b3d1de0_1_0_2 completed with success=False +[05/27 03:43:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3588: 1 episodes +[05/27 03:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:43:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:43:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3588 +[05/27 03:43:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3588 in 2.64s (batch: 2.56s, save: 0.09s) +[05/27 03:43:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3588 +[05/27 03:43:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3588: 0/1 successful episodes +[05/27 03:43:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3718 (index 35/113) +[05/27 03:43:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3718 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:43:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place geologicalspecimen next to pencil +[2026-05-27 03:44:42,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:45:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:58:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3718 episode 0 object objageologicalspecimen_226e782eecfb47018de9a781a77276d0_1_0_8 completed with success=False +[05/27 03:58:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3718: 1 episodes +[05/27 03:58:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:58:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:58:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3718 +[05/27 03:58:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3718 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 03:58:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3718 +[05/27 03:58:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3718: 0/1 successful episodes +[05/27 03:58:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3759 (index 36/113) +[05/27 03:58:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3759 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:58:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[05/27 03:58:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_3 in scene +[05/27 03:58:19 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_3 in scene +Goal: place denture next to red lighthouse with framework +[2026-05-27 03:59:23,075] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:59:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:06:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 3759 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_3 completed with success=False +[05/27 04:06:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3759: 1 episodes +[05/27 04:06:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:06:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:06:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3759 +[05/27 04:06:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3759 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 04:06:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3759 +[05/27 04:06:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3759: 0/1 successful episodes +[05/27 04:06:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3900 (index 37/113) +[05/27 04:06:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:06:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place beige ceramic lid with central knob next to translucent ergonomic spray bottle +[2026-05-27 04:08:04,693] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:08:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:18:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 3900 episode 0 object objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_6 completed with success=False +[05/27 04:18:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3900: 1 episodes +[05/27 04:18:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:18:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:18:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3900 +[05/27 04:18:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3900 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 04:18:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3900 +[05/27 04:18:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3900: 0/1 successful episodes +[05/27 04:18:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3991 (index 38/113) +[05/27 04:18:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:18:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place green nameplate next to glossy wooden tapered cup +[2026-05-27 04:19:43,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:20:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:21:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3991 episode 0 object objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_6 completed with success=False +[05/27 04:21:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue puzzle piece with rainbow clouds next to modern black faucet with spray +[2026-05-27 04:22:45,226] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:23:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:32:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 3991 episode 1 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6 completed with success=False +[05/27 04:32:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3991: 2 episodes +[05/27 04:32:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:32:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:32:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:32:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:32:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3991 +[05/27 04:32:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3991 in 5.37s (batch: 5.19s, save: 0.17s) +[05/27 04:32:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3991 +[05/27 04:32:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3991: 0/2 successful episodes +[05/27 04:32:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4028 (index 39/113) +[05/27 04:32:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4028 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:32:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 04:32:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene +Goal: place lifelike yellow striped wasp model next to weathered stone disc +[2026-05-27 04:33:35,282] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:34:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:43:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 4028 episode 0 object objainsect_f384c01929c74ff49375cb5f79f03466_1_0_7 completed with success=False +[05/27 04:43:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4028: 1 episodes +[05/27 04:43:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:43:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:43:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4028 +[05/27 04:43:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4028 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 04:43:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4028 +[05/27 04:43:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4028: 0/1 successful episodes +[05/27 04:43:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4115 (index 40/113) +[05/27 04:43:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:43:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 04:43:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaabstractsculpture_50fd637c724a48e8940360d6690663ba_1_0_2 in scene +Goal: place metal pliers tool next to blue patterned phone +[2026-05-27 04:44:51,171] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:45:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:53:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4115 episode 0 object objapliers_0aad9dd2a4cf4eb28b87b0e67dc7ec18_1_0_6 completed with success=False +[05/27 04:53:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4115: 1 episodes +[05/27 04:53:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:53:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:53:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4115 +[05/27 04:53:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4115 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 04:53:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4115 +[05/27 04:53:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4115: 0/1 successful episodes +[05/27 04:53:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4198 (index 41/113) +[05/27 04:53:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4198 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:53:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 04:54:07 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyairplane_727f33155d8c46fc9f01a7ee7c346538_1_0_6 in scene +[05/27 04:54:07 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_e1cf88813ab29e11ba18f4177beb0346_1_0_6 in scene +[05/27 04:54:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_7 in scene +Goal: place fresh pineapple with spiky green leaves next to fresh elongated green romaine lettuce +[2026-05-27 04:55:10,692] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:55:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:05:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 4198 episode 0 object objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_6 completed with success=False +[05/27 05:05:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4198: 1 episodes +[05/27 05:05:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:06:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:06:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4198 +[05/27 05:06:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4198 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 05:06:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4198 +[05/27 05:06:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4198: 0/1 successful episodes +[05/27 05:06:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4266 (index 42/113) +[05/27 05:06:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:06:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place vintage black camera next to bulbous shiny gold metallic vase +[2026-05-27 05:07:14,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:26:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4266 episode 0 object objacamera_f49a08efb8a544efb98d4d806b0d1c27_1_0_4 completed with success=False +[05/27 05:26:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4266: 1 episodes +[05/27 05:26:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:26:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:26:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4266 +[05/27 05:26:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4266 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 05:26:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4266 +[05/27 05:26:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4266: 0/1 successful episodes +[05/27 05:26:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4306 (index 43/113) +[05/27 05:26:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:26:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place brown leather high-top boot next to brown cardboard box open +[2026-05-27 05:27:41,706] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:28:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:42:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4306 episode 0 object objaboot_83072c9d2cf54194a165897bc77196c1_1_0_6 completed with success=False +[05/27 05:42:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4306: 1 episodes +[05/27 05:42:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:42:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:42:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4306 +[05/27 05:42:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4306 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 05:42:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4306 +[05/27 05:42:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4306: 0/1 successful episodes +[05/27 05:42:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4385 (index 44/113) +[05/27 05:42:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:42:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place garden hose nozzle next to apple +[2026-05-27 05:44:00,655] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:54:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4385 episode 0 object objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_6 completed with success=False +[05/27 05:54:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4385: 1 episodes +[05/27 05:54:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:54:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:54:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4385 +[05/27 05:54:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4385 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 05:54:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4385 +[05/27 05:54:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4385: 0/1 successful episodes +[05/27 05:54:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4476 (index 45/113) +[05/27 05:54:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4476 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:54:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 05:54:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_7447e37e0378480c9e30e943350f8ab7_1_0_7 in scene +Goal: place red keychain next to smooth yellow egg with black zigzag +[2026-05-27 05:55:38,366] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:56:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:09:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4476 episode 0 object objakeychainholder_073e7cc7e9cf4968afc05d50528c7f9b_1_0_9 completed with success=False +[05/27 06:09:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4476: 1 episodes +[05/27 06:09:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:09:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:09:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4476 +[05/27 06:09:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4476 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 06:09:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4476 +[05/27 06:09:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4476: 0/1 successful episodes +[05/27 06:09:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4577 (index 46/113) +[05/27 06:09:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:09:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place ginger root next to blue spray bottle +[2026-05-27 06:10:23,959] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:19:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4577 episode 0 object objagingerroot_e8e250f94c6a4c51b71f15e1a3b36e25_1_0_6 completed with success=False +[05/27 06:20:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4577: 1 episodes +[05/27 06:20:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:20:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:20:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4577 +[05/27 06:20:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4577 in 2.64s (batch: 2.54s, save: 0.10s) +[05/27 06:20:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4577 +[05/27 06:20:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4577: 0/1 successful episodes +[05/27 06:20:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4654 (index 47/113) +[05/27 06:20:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:20:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place golden metallic laurel wreath headpiece next to vintage metal tag +[2026-05-27 06:21:20,792] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:37:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4654 episode 0 object objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_9 completed with success=False +[05/27 06:37:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4654: 1 episodes +[05/27 06:37:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:37:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:37:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4654 +[05/27 06:37:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4654 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 06:37:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4654 +[05/27 06:37:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4654: 0/1 successful episodes +[05/27 06:37:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4692 (index 48/113) +[05/27 06:37:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:37:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place green armored character card with text next to conical soap bottle with pump +[2026-05-27 06:38:29,147] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:39:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:44:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4692 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_2 completed with success=False +[05/27 06:44:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4692: 1 episodes +[05/27 06:44:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:44:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:44:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4692 +[05/27 06:44:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4692 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 06:44:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4692 +[05/27 06:44:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4692: 0/1 successful episodes +[05/27 06:44:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4766 (index 49/113) +[05/27 06:44:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:44:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place white egg next to tall dark cup with ridges base +[2026-05-27 06:45:42,834] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:46:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:54:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4766 episode 0 object egg_768abcb7b01b3935a0261a8d2ef92b12_1_0_2 completed with success=False +[05/27 06:54:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4766: 1 episodes +[05/27 06:54:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:54:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:54:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4766 +[05/27 06:54:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4766 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 06:54:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4766 +[05/27 06:54:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4766: 0/1 successful episodes +[05/27 06:54:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4863 (index 50/113) +[05/27 06:54:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:54:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 06:54:42 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicatooth_c7bf1c4c76f74da4bbc1620e1173e189_1_0_3 in scene +[05/27 06:54:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_3 in scene +Goal: place dark blue wedge next to wooden bookmark with butterfly +[2026-05-27 06:55:45,682] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:56:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:08:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4863 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_4 completed with success=False +[05/27 07:08:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4863: 1 episodes +[05/27 07:08:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:08:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:08:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4863 +[05/27 07:08:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4863 in 2.56s (batch: 2.47s, save: 0.09s) +[05/27 07:08:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4863 +[05/27 07:08:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4863: 0/1 successful episodes +[05/27 07:08:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4929 (index 51/113) +[05/27 07:08:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4929 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:08:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place rustic stone cup with hole next to vibrant abstract sculpture with colorful ribbons +[2026-05-27 07:09:34,031] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:10:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:25:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4929 episode 0 object objastonecup_5ef91e0bfe7b44da9f1d2944386cce85_1_0_2 completed with success=False +[05/27 07:25:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4929: 1 episodes +[05/27 07:25:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:25:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:25:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4929 +[05/27 07:25:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4929 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 07:25:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4929 +[05/27 07:25:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4929: 0/1 successful episodes +[05/27 07:25:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5015 (index 52/113) +[05/27 07:25:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:25:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place red plastic cup with white interior next to pink daisy blooming in pot +[2026-05-27 07:27:07,597] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:27:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:38:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 5015 episode 0 object objaplasticcup_84d301b896084a2f94f2835dd4ba2d94_1_0_6 completed with success=False +[05/27 07:38:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5015: 1 episodes +[05/27 07:38:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:38:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:38:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5015 +[05/27 07:38:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5015 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 07:38:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5015 +[05/27 07:38:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5015: 0/1 successful episodes +[05/27 07:38:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5130 (index 53/113) +[05/27 07:38:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5130 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:38:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_4 in scene +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_7 in scene +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_7 in scene +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_7 in scene +Goal: place cylindrical dark nhl pencilcase next to soapdispenser +[2026-05-27 07:39:19,754] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:39:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:48:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 5130 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_8 completed with success=False +[05/27 07:48:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5130: 1 episodes +[05/27 07:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:48:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:48:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5130 +[05/27 07:48:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5130 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 07:48:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5130 +[05/27 07:48:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5130: 0/1 successful episodes +[05/27 07:48:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5148 (index 54/113) +[05/27 07:48:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:48:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 07:48:52 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_2cb7026ffacf4889bb265099b8460c7f_1_0_5 in scene +Goal: place bronze buckle with cowboy next to golden brown artisanal loaf of bread +[2026-05-27 07:49:54,777] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:50:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:00:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5148 episode 0 object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_6 completed with success=False +[05/27 08:00:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 08:00:55 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_2cb7026ffacf4889bb265099b8460c7f_1_0_5 in scene +Goal: place modern white tape dispenser next to black radiator with looping copper tubes +[2026-05-27 08:01:58,692] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:02:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:13:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5148 episode 1 object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5 completed with success=False +[05/27 08:13:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5148: 2 episodes +[05/27 08:13:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:13:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:13:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:13:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:13:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5148 +[05/27 08:13:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5148 in 5.13s (batch: 4.95s, save: 0.18s) +[05/27 08:13:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5148 +[05/27 08:13:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5148: 0/2 successful episodes +[05/27 08:13:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5186 (index 55/113) +[05/27 08:13:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5186 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:13:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 08:13:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_5 in scene +[05/27 08:13:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/27 08:13:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place cross-shaped metallic connector with holes next to spherical colorful puzzle ball with patterns +[2026-05-27 08:14:58,719] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:15:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:27:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 5186 episode 0 object objaconnector_72e520e59a5242198535fedad37a00f1_1_0_9 completed with success=False +[05/27 08:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5186: 1 episodes +[05/27 08:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:27:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:27:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5186 +[05/27 08:27:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5186 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 08:27:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5186 +[05/27 08:27:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5186: 0/1 successful episodes +[05/27 08:27:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5288 (index 56/113) +[05/27 08:27:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5288 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:27:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place blowtorch next to realistic pink brain model +[2026-05-27 08:29:06,965] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:29:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:41:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5288 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_8 completed with success=False +[05/27 08:41:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5288: 1 episodes +[05/27 08:41:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:41:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:41:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5288 +[05/27 08:41:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5288 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 08:41:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5288 +[05/27 08:41:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5288: 0/1 successful episodes +[05/27 08:41:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5445 (index 57/113) +[05/27 08:41:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5445 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:41:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place rustic wooden mug with handle next to aerosol container +[2026-05-27 08:42:20,596] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:55:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5445 episode 0 object objamug_8529afb010814c188970381c3596afef_1_0_8 completed with success=False +[05/27 08:55:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5445: 1 episodes +[05/27 08:55:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:55:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:55:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5445 +[05/27 08:55:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5445 in 2.50s (batch: 2.40s, save: 0.09s) +[05/27 08:55:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5445 +[05/27 08:55:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5445: 0/1 successful episodes +[05/27 08:55:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5523 (index 58/113) +[05/27 08:55:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:55:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place rusty metal rod next to realistic beige saber-toothed cat skull +[2026-05-27 08:56:58,753] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:12:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5523 episode 0 object objametalrod_18484b0d1a274d62abde66a9047600ca_1_0_9 completed with success=False +[05/27 09:12:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5523: 1 episodes +[05/27 09:12:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:12:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:12:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5523 +[05/27 09:12:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5523 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 09:12:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5523 +[05/27 09:12:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5523: 0/1 successful episodes +[05/27 09:12:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5596 (index 59/113) +[05/27 09:12:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5596 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:12:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place stone fish decor next to textured octagonal translucent soap bottle +[2026-05-27 09:13:45,072] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:14:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:24:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5596 episode 0 object objadecorativefish_5a1f0f032b2a4774887620ca540318c4_1_0_6 completed with success=False +[05/27 09:24:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5596: 1 episodes +[05/27 09:24:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:24:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:24:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5596 +[05/27 09:24:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5596 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 09:24:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5596 +[05/27 09:24:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5596: 0/1 successful episodes +[05/27 09:24:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5652 (index 60/113) +[05/27 09:24:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5652 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:24:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place white decorative corner molding next to transparent soap bottle with dark pump +[2026-05-27 09:26:04,662] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:26:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:33:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 5652 episode 0 object objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_2 completed with success=False +[05/27 09:33:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5652: 1 episodes +[05/27 09:33:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:33:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:33:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5652 +[05/27 09:33:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5652 in 2.53s (batch: 2.44s, save: 0.10s) +[05/27 09:33:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5652 +[05/27 09:33:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5652: 0/1 successful episodes +[05/27 09:33:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5755 (index 61/113) +[05/27 09:33:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:33:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place colorful geometric molecular model next to muscleman hanging on yellow rings +[2026-05-27 09:34:34,526] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:35:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:44:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5755 episode 0 object objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_7 completed with success=False +[05/27 09:44:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5755: 1 episodes +[05/27 09:44:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:44:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:44:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5755 +[05/27 09:44:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5755 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 09:44:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5755 +[05/27 09:44:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5755: 0/1 successful episodes +[05/27 09:44:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5867 (index 62/113) +[05/27 09:44:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:44:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place glossy black sign with pink next to glossy black sign with pink +[2026-05-27 09:45:40,281] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:46:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:52:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5867 episode 0 object objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_3 completed with success=False +[05/27 09:52:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5867: 1 episodes +[05/27 09:52:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:52:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:52:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5867 +[05/27 09:52:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5867 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 09:52:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5867 +[05/27 09:52:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5867: 0/1 successful episodes +[05/27 09:52:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5914 (index 63/113) +[05/27 09:52:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5914 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:52:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place vintage black film camera next to curved golden prism with ship +[2026-05-27 09:54:40,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:55:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:02:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5914 episode 0 object objafilmcamera_1d9723e8400443fabf6ed8a52b9a208d_1_0_3 completed with success=False +[05/27 10:02:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5914: 1 episodes +[05/27 10:02:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:02:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:02:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5914 +[05/27 10:02:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5914 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 10:02:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5914 +[05/27 10:02:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5914: 0/1 successful episodes +[05/27 10:02:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6011 (index 64/113) +[05/27 10:02:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6011 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:02:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place blocky toy soldier wearing red uniform next to black classic bar-style mobile phone +[2026-05-27 10:04:15,332] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:04:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:17:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 6011 episode 0 object objatoysoldier_e408c968b0f44a9d92ac92ad390b608a_1_0_4 completed with success=False +[05/27 10:17:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6011: 1 episodes +[05/27 10:17:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:17:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:17:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6011 +[05/27 10:17:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6011 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 10:17:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6011 +[05/27 10:17:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6011: 0/1 successful episodes +[05/27 10:17:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6100 (index 65/113) +[05/27 10:17:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6100 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:17:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue star-shaped mold with patterns next to tall dark cup with ridges base +[2026-05-27 10:18:31,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:19:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:29:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 6100 episode 0 object objamold_225720a070c046dba53c77e9a0a7716f_1_0_6 completed with success=False +[05/27 10:29:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6100: 1 episodes +[05/27 10:29:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:29:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:29:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6100 +[05/27 10:29:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6100 in 2.55s (batch: 2.46s, save: 0.09s) +[05/27 10:29:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6100 +[05/27 10:29:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6100: 0/1 successful episodes +[05/27 10:29:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6170 (index 66/113) +[05/27 10:29:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6170 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:29:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 10:29:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaelectricaloutlet_4e5f458de0884bf8a5b460b2bfdf3c41_1_0_2 in scene +Goal: place green packet next to decorative goblet with ribbon bow +[2026-05-27 10:30:15,054] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:30:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:33:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 6170 episode 0 object objapacket_30d0d5de961f4a889aeac04b1e81cd61_1_0_2 completed with success=False +[05/27 10:33:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6170: 1 episodes +[05/27 10:33:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:33:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:33:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6170 +[05/27 10:33:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6170 in 2.54s (batch: 2.45s, save: 0.09s) +[05/27 10:33:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6170 +[05/27 10:33:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6170: 0/1 successful episodes +[05/27 10:33:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6250 (index 67/113) +[05/27 10:33:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6250 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:33:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place worn brown work glove with cuff next to dark gray rounded cast iron pot +[2026-05-27 10:34:23,295] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:34:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:42:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6250 episode 0 object objaglove_437e50e2a7b441ba87d54392c39c0baf_1_0_6 completed with success=False +[05/27 10:42:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6250: 1 episodes +[05/27 10:42:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:42:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:42:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6250 +[05/27 10:42:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6250 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 10:42:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6250 +[05/27 10:42:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6250: 0/1 successful episodes +[05/27 10:42:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6293 (index 68/113) +[05/27 10:42:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6293 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:42:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 10:43:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 10:43:11 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_c337b092178a4931a68336c3e6f49287_1_0_5 in scene +[05/27 10:43:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +Goal: place blue metallic disc next to bulbous shiny gold vase +[2026-05-27 10:44:15,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:44:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:00:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 6293 episode 0 object objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_3 completed with success=False +[05/27 11:00:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6293: 1 episodes +[05/27 11:00:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:00:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:00:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6293 +[05/27 11:00:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6293 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 11:00:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6293 +[05/27 11:00:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6293: 0/1 successful episodes +[05/27 11:00:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6378 (index 69/113) +[05/27 11:00:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6378 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:00:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 11:00:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativefigurine_ad9c3e91ec494617a3fd842301dab227_1_0_4 in scene +[05/27 11:00:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place primitive off-white stone arrowhead tool next to white hardcover book about programming +[2026-05-27 11:01:43,154] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:02:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:17:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6378 episode 0 object objastonetool_ecbf9010c8ff4544867d28d237dab330_1_0_4 completed with success=False +[05/27 11:17:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6378: 1 episodes +[05/27 11:17:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:17:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:17:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6378 +[05/27 11:17:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6378 in 2.58s (batch: 2.48s, save: 0.09s) +[05/27 11:17:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6378 +[05/27 11:17:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6378: 0/1 successful episodes +[05/27 11:17:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6430 (index 70/113) +[05/27 11:17:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6430 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:17:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place sharp scissors with blue handles next to tall dark cup with ridges +[2026-05-27 11:18:52,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:19:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:24:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 6430 episode 0 object objascissors_c67efef1abeb41969eef84c06311fac6_1_0_2 completed with success=False +[05/27 11:24:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6430: 1 episodes +[05/27 11:24:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:24:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:24:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6430 +[05/27 11:24:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6430 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 11:24:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6430 +[05/27 11:24:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6430: 0/1 successful episodes +[05/27 11:24:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6533 (index 71/113) +[05/27 11:24:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6533 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:24:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place gamingmouse next to faded blue vintage car +[2026-05-27 11:26:18,972] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:26:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:35:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 6533 episode 0 object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6 completed with success=False +[05/27 11:35:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6533: 1 episodes +[05/27 11:35:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:35:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:35:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6533 +[05/27 11:35:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6533 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 11:35:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6533 +[05/27 11:35:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6533: 0/1 successful episodes +[05/27 11:35:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6672 (index 72/113) +[05/27 11:35:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:35:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 11:36:00 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +Goal: place brown stick next to brown bread +[2026-05-27 11:37:03,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:37:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:48:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 6672 episode 0 object objastick_973e872f05da428b9594feb65ec42e10_1_0_6 completed with success=False +[05/27 11:48:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6672: 1 episodes +[05/27 11:48:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:48:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:48:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6672 +[05/27 11:48:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6672 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 11:48:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6672 +[05/27 11:48:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6672: 0/1 successful episodes +[05/27 11:48:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6755 (index 73/113) +[05/27 11:48:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:48:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 11:48:57 Worker 0 WARNING object_manager.py:1238] Could not find object objametalartifact_ce43098d06304a5c854f996ce96bd02e_1_0_5 in scene +[05/27 11:48:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +Goal: place primitive stone hammer with wooden handle next to metallic brushed stainless steel toaster +[2026-05-27 11:50:02,121] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:05:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6755 episode 0 object objastonehammer_5222cf9dedae4a31882281f6d7bada89_1_0_8 completed with success=False +[05/27 12:05:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6755: 1 episodes +[05/27 12:05:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:05:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:05:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6755 +[05/27 12:05:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6755 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 12:05:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6755 +[05/27 12:05:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6755: 0/1 successful episodes +[05/27 12:05:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6858 (index 74/113) +[05/27 12:05:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6858 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:05:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place ergonomic black handheld scanner next to blue glossy vase +[2026-05-27 12:06:27,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:07:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:17:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 6858 episode 0 object objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_4 completed with success=False +[05/27 12:17:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6858: 1 episodes +[05/27 12:17:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:17:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:17:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6858 +[05/27 12:17:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6858 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 12:17:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6858 +[05/27 12:17:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6858: 0/1 successful episodes +[05/27 12:17:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6934 (index 75/113) +[05/27 12:17:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6934 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:17:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place replica bone next to pagoda with dragon and chains +[2026-05-27 12:19:05,715] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:19:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:20:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6934 episode 0 object objareplicabone_d016a23297944f2db6a6f92625f39bf0_1_0_7 completed with success=True +[05/27 12:20:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6934: 1 episodes +[05/27 12:20:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/27 12:20:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:20:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6934 +[05/27 12:20:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6934 in 2.39s (batch: 2.37s, save: 0.03s) +[05/27 12:20:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6934 +[05/27 12:20:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6934: 1/1 successful episodes +[05/27 12:20:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6995 (index 76/113) +[05/27 12:20:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:20:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objarockformation_4d2933a75ff24afc8b8a76cd9a33a4b3_1_0_2 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object cup_846a15223bb43478575a27d2329db25d_1_0_2 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_9 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_9 in scene +Goal: place large bulbous garlic with dried stem next to dark gray plate with ridges +[2026-05-27 12:22:11,499] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:22:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:40:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 6995 episode 0 object objagarlicbulb_0ba46093caff4ef7b415279e4a28e3cc_1_0_2 completed with success=False +[05/27 12:40:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6995: 1 episodes +[05/27 12:40:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:40:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:40:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6995 +[05/27 12:40:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6995 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 12:40:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6995 +[05/27 12:40:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6995: 0/1 successful episodes +[05/27 12:40:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7065 (index 77/113) +[05/27 12:40:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7065 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:40:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 12:40:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene +Goal: place dark nhl pencilcase next to vibrant floral mug with handle +[2026-05-27 12:41:52,170] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:42:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:51:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 7065 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_6 completed with success=False +[05/27 12:51:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7065: 1 episodes +[05/27 12:51:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:51:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:51:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7065 +[05/27 12:51:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7065 in 2.54s (batch: 2.45s, save: 0.09s) +[05/27 12:51:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7065 +[05/27 12:51:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7065: 0/1 successful episodes +[05/27 12:51:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7148 (index 78/113) +[05/27 12:51:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:51:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place white candle with number four next to pink grooved candle on green holder +[2026-05-27 12:52:50,722] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:06:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 7148 episode 0 object objadecorativecandle_f6df1e32257f437d896fc6c406d04914_1_0_5 completed with success=False +[05/27 13:06:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7148: 1 episodes +[05/27 13:06:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:06:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:06:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7148 +[05/27 13:06:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7148 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 13:06:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7148 +[05/27 13:06:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7148: 0/1 successful episodes +[05/27 13:06:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7230 (index 79/113) +[05/27 13:06:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7230 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:06:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place blue retro-style cassette player next to blue square ceramic plate +[2026-05-27 13:07:31,673] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:08:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:13:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7230 episode 0 object objacassetteplayer_14daacbaf0f94f458851e15dfd717426_2_0_3 completed with success=False +[05/27 13:13:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7230: 1 episodes +[05/27 13:13:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:13:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:13:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7230 +[05/27 13:13:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7230 in 2.60s (batch: 2.52s, save: 0.09s) +[05/27 13:13:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7230 +[05/27 13:13:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7230: 0/1 successful episodes +[05/27 13:13:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7333 (index 80/113) +[05/27 13:13:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7333 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:13:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place white smart speaker with fabric next to heavily rusted brake caliper pistons +[2026-05-27 13:14:30,072] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:26:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 7333 episode 0 object objasmartspeaker_5388f20d16064e1fae2741e1c26c9fa3_1_0_9 completed with success=False +[05/27 13:26:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7333: 1 episodes +[05/27 13:26:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:26:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:26:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7333 +[05/27 13:26:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7333 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 13:26:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7333 +[05/27 13:26:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7333: 0/1 successful episodes +[05/27 13:26:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7347 (index 81/113) +[05/27 13:26:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 7347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:26:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 13:26:42 Worker 0 WARNING object_manager.py:1238] Could not find object objasignage_bb52b9455ae4459e94b6d3bf9d3fb510_1_0_6 in scene +[05/27 13:26:42 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene +Goal: place butt hinge next to black white striped decorative award +[2026-05-27 13:27:46,687] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:28:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:35:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 7347 episode 0 object objaconcealedhinge_dc23e9723bdc42fa8f79ff643bcc68e3_1_0_6 completed with success=False +[05/27 13:35:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 13:35:53 Worker 0 WARNING object_manager.py:1238] Could not find object objasignage_bb52b9455ae4459e94b6d3bf9d3fb510_1_0_6 in scene +[05/27 13:35:53 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene +Goal: place blue wavy porous cleaning sponge next to cup +[2026-05-27 13:36:57,765] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:37:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:44:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7347 episode 1 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_6 completed with success=False +[05/27 13:44:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7347: 2 episodes +[05/27 13:44:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:44:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:44:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:44:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:44:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7347 +[05/27 13:44:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7347 in 5.10s (batch: 4.93s, save: 0.17s) +[05/27 13:44:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7347 +[05/27 13:44:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7347: 0/2 successful episodes +[05/27 13:44:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7363 (index 82/113) +[05/27 13:44:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7363 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:44:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place antique hand mirror with floral next to turquoise toy vehicle with red wheels +[2026-05-27 13:45:55,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:46:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:51:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7363 episode 0 object objahandmirror_356c4b59d2b14b5a841475d01d4e82aa_2_0_2 completed with success=False +[05/27 13:51:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7363: 1 episodes +[05/27 13:51:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:51:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:51:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7363 +[05/27 13:51:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7363 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 13:51:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7363 +[05/27 13:51:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7363: 0/1 successful episodes +[05/27 13:51:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7440 (index 83/113) +[05/27 13:51:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7440 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:51:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 13:51:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene +Goal: place spherical polished brown wooden yo-yo next to open brown cardboard box for packaging +[2026-05-27 13:52:47,707] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:09:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 7440 episode 0 object objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_7 completed with success=False +[05/27 14:09:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7440: 1 episodes +[05/27 14:09:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:09:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7440 +[05/27 14:09:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7440 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 14:09:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7440 +[05/27 14:09:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7440: 0/1 successful episodes +[05/27 14:09:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7504 (index 84/113) +[05/27 14:09:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:09:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place black espresso pot next to sleek dark portable laptop with keyboard +[2026-05-27 14:10:38,828] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:11:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:23:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 7504 episode 0 object objamokapot_e359184cea054cb09b5c603845cb0231_1_0_4 completed with success=False +[05/27 14:23:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7504: 1 episodes +[05/27 14:23:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:23:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:23:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7504 +[05/27 14:23:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7504 in 2.54s (batch: 2.45s, save: 0.10s) +[05/27 14:23:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7504 +[05/27 14:23:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7504: 0/1 successful episodes +[05/27 14:23:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7625 (index 85/113) +[05/27 14:23:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:23:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place means next to gold pump bottle +[2026-05-27 14:25:00,495] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:25:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:34:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 7625 episode 0 object objatray_b4351af051964283968b5fed441ee844_1_0_6 completed with success=False +[05/27 14:34:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7625: 1 episodes +[05/27 14:34:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:34:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:34:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7625 +[05/27 14:34:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7625 in 2.57s (batch: 2.47s, save: 0.09s) +[05/27 14:34:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7625 +[05/27 14:34:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7625: 0/1 successful episodes +[05/27 14:34:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7740 (index 86/113) +[05/27 14:34:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7740 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:34:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 14:35:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene +[05/27 14:35:00 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene +Goal: place orange and green cube next to gray elongated stone +[2026-05-27 14:36:05,675] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:36:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:50:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7740 episode 0 object objapuzzletoy_3b74eeb531ca4f49a0274e2887526aee_1_0_8 completed with success=False +[05/27 14:50:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7740: 1 episodes +[05/27 14:50:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:50:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:50:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7740 +[05/27 14:50:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7740 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 14:50:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7740 +[05/27 14:50:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7740: 0/1 successful episodes +[05/27 14:50:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7841 (index 87/113) +[05/27 14:50:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7841 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:50:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place silver bullet with red band tip next to rectangular dark gray tufted pillow +[2026-05-27 14:51:24,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:52:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:56:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 7841 episode 0 object objadecorativereplica_7da5f4dde5ae41a1b634f54bb3133b3d_1_0_2 completed with success=False +[05/27 14:56:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7841: 1 episodes +[05/27 14:56:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:56:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:56:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7841 +[05/27 14:56:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7841 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 14:56:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7841 +[05/27 14:56:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7841: 0/1 successful episodes +[05/27 14:56:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7923 (index 88/113) +[05/27 14:56:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:56:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place brown clay dish with handle next to fresh green lettuce with stem +[2026-05-27 14:58:20,735] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:07:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 7923 episode 0 object objaclaydish_74d08c7da86943e19fe4667bf039bf03_1_0_6 completed with success=False +[05/27 15:07:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7923: 1 episodes +[05/27 15:07:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:07:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:07:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7923 +[05/27 15:07:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7923 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 15:07:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7923 +[05/27 15:07:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7923: 0/1 successful episodes +[05/27 15:07:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7997 (index 89/113) +[05/27 15:07:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7997 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:07:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place brown potato next to bronze female statue +[2026-05-27 15:08:55,674] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:09:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:23:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 7997 episode 0 object Irishpotato_121f03310f70f545adbe1151e4ea4b7f_1_0_6 completed with success=False +[05/27 15:23:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7997: 1 episodes +[05/27 15:23:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:23:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:23:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7997 +[05/27 15:23:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7997 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 15:23:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7997 +[05/27 15:23:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7997: 0/1 successful episodes +[05/27 15:23:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8098 (index 90/113) +[05/27 15:23:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8098 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:23:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 15:23:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_6 in scene +Goal: place card with pink bow next to red mechanical glove with blades +[2026-05-27 15:24:27,857] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:25:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:34:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8098 episode 0 object objadecorativecard_65c3c59dcda94798b4f95a1817325f33_1_0_7 completed with success=False +[05/27 15:34:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8098: 1 episodes +[05/27 15:34:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:34:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:34:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8098 +[05/27 15:34:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8098 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 15:34:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8098 +[05/27 15:34:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8098: 0/1 successful episodes +[05/27 15:34:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8183 (index 91/113) +[05/27 15:34:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8183 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:34:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place gray cooking pot next to brown bread +[2026-05-27 15:35:21,386] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:35:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 8183 episode 0 object pot_b37a4855fab8cf0217449f68b5c47ef4_1_0_2 completed with success=False +[05/27 15:43:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8183: 1 episodes +[05/27 15:43:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:43:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:43:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8183 +[05/27 15:43:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8183 in 2.53s (batch: 2.44s, save: 0.09s) +[05/27 15:43:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8183 +[05/27 15:43:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8183: 0/1 successful episodes +[05/27 15:43:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8247 (index 92/113) +[05/27 15:43:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:43:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 15:43:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_5 in scene +[05/27 15:43:57 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +Goal: place gnome with red hat next to glossy blue vase +[2026-05-27 15:45:02,109] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:04:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 8247 episode 0 object objagardengnome_581405b5a63b40aba342e1356700e464_1_0_2 completed with success=False +[05/27 16:04:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8247: 1 episodes +[05/27 16:04:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:04:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:04:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8247 +[05/27 16:04:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8247 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 16:04:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8247 +[05/27 16:04:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8247: 0/1 successful episodes +[05/27 16:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8326 (index 93/113) +[05/27 16:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8326 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +Goal: place wooden house keyholder next to black patterned orb +[2026-05-27 16:06:06,989] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:23:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 8326 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_4 completed with success=False +[05/27 16:23:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8326: 1 episodes +[05/27 16:23:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:23:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:23:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8326 +[05/27 16:23:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8326 in 2.55s (batch: 2.46s, save: 0.09s) +[05/27 16:24:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8326 +[05/27 16:24:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8326: 0/1 successful episodes +[05/27 16:24:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8402 (index 94/113) +[05/27 16:24:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8402 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:24:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 16:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeartifact_b1b4c89f78cf4dbda524100885eab273_1_0_5 in scene +[05/27 16:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place white rectangular switch plate next to small beige clay tablet with engravings +[2026-05-27 16:25:19,150] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:25:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:40:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 8402 episode 0 object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_7 completed with success=False +[05/27 16:40:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8402: 1 episodes +[05/27 16:40:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:40:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:40:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8402 +[05/27 16:40:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8402 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 16:40:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8402 +[05/27 16:40:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8402: 0/1 successful episodes +[05/27 16:40:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8481 (index 95/113) +[05/27 16:40:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:40:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 16:40:49 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 16:40:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place tall golden spike with base next to squirt gun +[2026-05-27 16:41:55,268] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:55:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 8481 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6 completed with success=False +[05/27 16:55:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8481: 1 episodes +[05/27 16:55:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:55:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8481 +[05/27 16:55:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8481 in 2.62s (batch: 2.54s, save: 0.09s) +[05/27 16:55:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8481 +[05/27 16:55:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8481: 0/1 successful episodes +[05/27 16:55:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8562 (index 96/113) +[05/27 16:55:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8562 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:55:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place round white garlic bulb with ridges next to medium ripe red tomato with stem +[2026-05-27 16:57:16,302] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:57:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:07:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 8562 episode 0 object objagarlic_c7db153e97a94acdbd45824ca668497a_1_0_6 completed with success=False +[05/27 17:07:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8562: 1 episodes +[05/27 17:07:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:07:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:07:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8562 +[05/27 17:07:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8562 in 2.53s (batch: 2.44s, save: 0.09s) +[05/27 17:07:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8562 +[05/27 17:07:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8562: 0/1 successful episodes +[05/27 17:07:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8689 (index 97/113) +[05/27 17:07:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8689 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:07:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 17:07:46 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene +[05/27 17:07:46 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 in scene +Goal: place white paint roller next to olive scalloped ceramic plate +[2026-05-27 17:08:48,443] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:09:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:27:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 8689 episode 0 object objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_2 completed with success=False +[05/27 17:27:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8689: 1 episodes +[05/27 17:27:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:27:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:27:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8689 +[05/27 17:27:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8689 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 17:27:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8689 +[05/27 17:27:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8689: 0/1 successful episodes +[05/27 17:27:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8767 (index 98/113) +[05/27 17:27:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:27:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 17:27:35 Worker 0 WARNING object_manager.py:1238] Could not find object statue_904dcacd60264237fc6f100aa873b50d_1_0_9 in scene +Goal: place rusty metal megaphone with handle next to rusty can +[2026-05-27 17:28:40,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:29:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:43:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 8767 episode 0 object objamegaphone_65c06bc119a6426ea49dc2844e6a0044_1_0_6 completed with success=False +[05/27 17:43:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8767: 1 episodes +[05/27 17:43:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:43:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:43:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8767 +[05/27 17:43:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8767 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 17:43:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8767 +[05/27 17:43:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8767: 0/1 successful episodes +[05/27 17:43:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8857 (index 99/113) +[05/27 17:43:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:43:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/27 17:43:44 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +Goal: place black visor cap with colorful letters next to bear trap +[2026-05-27 17:44:48,161] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:47:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 8857 episode 0 object objavisorcap_aeb789836f494b2a9ca94b97d0fef8dc_1_0_6 completed with success=False +[05/27 17:47:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8857: 1 episodes +[05/27 17:47:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:47:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:47:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8857 +[05/27 17:47:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8857 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 17:47:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8857 +[05/27 17:47:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8857: 0/1 successful episodes +[05/27 17:47:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8922 (index 100/113) +[05/27 17:47:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8922 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:47:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 17:47:34 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/27 17:47:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_5a83321dfc4d4f60be6cb300826a248b_1_0_5 in scene +Goal: place gray sports shoe with black swoosh next to small beige clay tablet with engravings +[2026-05-27 17:48:37,894] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:49:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:00:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 8922 episode 0 object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_2_0_5 completed with success=False +[05/27 18:00:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8922: 1 episodes +[05/27 18:00:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:00:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:00:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8922 +[05/27 18:00:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8922 in 2.51s (batch: 2.43s, save: 0.09s) +[05/27 18:00:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8922 +[05/27 18:00:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8922: 0/1 successful episodes +[05/27 18:00:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8993 (index 101/113) +[05/27 18:00:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:00:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place pale bone with small triangular teeth next to green bronze mask with cutouts +[2026-05-27 18:01:37,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:07:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 8993 episode 0 object objabone_8c1d6040fd2f490981bf87dd4bcb636c_1_0_2 completed with success=False +[05/27 18:07:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8993: 1 episodes +[05/27 18:07:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:07:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:07:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8993 +[05/27 18:07:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8993 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 18:07:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8993 +[05/27 18:07:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8993: 0/1 successful episodes +[05/27 18:07:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9054 (index 102/113) +[05/27 18:07:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9054 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:07:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place metal spring next to green insect head +[2026-05-27 18:08:41,434] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:09:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:24:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 9054 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_6 completed with success=False +[05/27 18:24:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9054: 1 episodes +[05/27 18:24:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:24:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:24:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9054 +[05/27 18:24:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9054 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 18:24:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9054 +[05/27 18:24:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9054: 0/1 successful episodes +[05/27 18:24:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9112 (index 103/113) +[05/27 18:24:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9112 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:24:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 18:24:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 18:24:33 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_221bd4f07cb4337aa672d00523ed9982_1_0_6 in scene +[05/27 18:24:33 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_6 in scene +Goal: place pink orchid branch next to spray bottle +[2026-05-27 18:25:37,681] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:40:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 9112 episode 0 object objaflower_bb02fbe0066d40a2a5429a02735c0ef6_1_0_9 completed with success=False +[05/27 18:40:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9112: 1 episodes +[05/27 18:40:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:40:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:40:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9112 +[05/27 18:40:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9112 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 18:40:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9112 +[05/27 18:40:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9112: 0/1 successful episodes +[05/27 18:40:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9173 (index 104/113) +[05/27 18:40:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9173 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:40:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 18:40:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_3 in scene +[05/27 18:40:19 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 in scene +Goal: place measuring device next to small beige clay tablet with engravings +[2026-05-27 18:41:24,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:41:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:53:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 9173 episode 0 object objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_3 completed with success=False +[05/27 18:53:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9173: 1 episodes +[05/27 18:53:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:53:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:53:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9173 +[05/27 18:53:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9173 in 2.77s (batch: 2.67s, save: 0.10s) +[05/27 18:53:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9173 +[05/27 18:53:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9173: 0/1 successful episodes +[05/27 18:53:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9279 (index 105/113) +[05/27 18:53:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9279 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:53:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place motion-picture camera next to sleek dark portable laptop with keyboard +[2026-05-27 18:54:54,499] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:55:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:04:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 9279 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2 completed with success=False +[05/27 19:04:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9279: 1 episodes +[05/27 19:04:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:04:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:04:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9279 +[05/27 19:04:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9279 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 19:04:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9279 +[05/27 19:04:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9279: 0/1 successful episodes +[05/27 19:04:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9343 (index 106/113) +[05/27 19:04:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9343 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place conical purple sweet potato with texture next to large deep red ripe tomato +[2026-05-27 19:06:02,820] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:17:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 9343 episode 0 object objavegetable_3ea7a361c376454aa22ce6c30e905e13_1_0_8 completed with success=False +[05/27 19:17:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9343: 1 episodes +[05/27 19:17:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:17:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:17:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9343 +[05/27 19:17:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9343 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 19:17:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9343 +[05/27 19:17:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9343: 0/1 successful episodes +[05/27 19:17:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9476 (index 107/113) +[05/27 19:17:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9476 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:17:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place white candle holder next to green military helicopter +[2026-05-27 19:19:03,308] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:19:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:26:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9476 episode 0 object objacandlestickholder_7961a71d5af04bcea18476847c200c00_1_0_3 completed with success=False +[05/27 19:26:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9476: 1 episodes +[05/27 19:26:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:26:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:26:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9476 +[05/27 19:26:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9476 in 2.66s (batch: 2.56s, save: 0.10s) +[05/27 19:26:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9476 +[05/27 19:26:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9476: 0/1 successful episodes +[05/27 19:26:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9522 (index 108/113) +[05/27 19:26:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9522 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:26:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place triangular pale stone next to pineapple with crown +[2026-05-27 19:28:01,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:28:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:40:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 9522 episode 0 object objastonetoolreplica_a5eac68b8d9145d4a4674a3437c700ce_1_0_6 completed with success=False +[05/27 19:40:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9522: 1 episodes +[05/27 19:40:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:40:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:40:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9522 +[05/27 19:40:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9522 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 19:40:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9522 +[05/27 19:40:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9522: 0/1 successful episodes +[05/27 19:40:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9603 (index 109/113) +[05/27 19:40:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9603 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:40:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place circular disc with colorful front design next to detailed model of horse skull +[2026-05-27 19:41:47,711] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:59:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9603 episode 0 object objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_7 completed with success=False +[05/27 19:59:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9603: 1 episodes +[05/27 19:59:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:59:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:59:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9603 +[05/27 19:59:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9603 in 2.58s (batch: 2.49s, save: 0.10s) +[05/27 19:59:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9603 +[05/27 19:59:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9603: 0/1 successful episodes +[05/27 19:59:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9662 (index 110/113) +[05/27 19:59:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:59:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place black spray can next to green mossy strip with jagged edges +[2026-05-27 20:00:42,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:01:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:07:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9662 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2 completed with success=False +[05/27 20:07:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9662: 1 episodes +[05/27 20:07:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:07:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:07:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9662 +[05/27 20:07:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9662 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 20:07:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9662 +[05/27 20:07:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9662: 0/1 successful episodes +[05/27 20:07:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9764 (index 111/113) +[05/27 20:07:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 20:07:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place green armored character card with text next to white and gray modern smart speaker +[2026-05-27 20:08:41,257] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:15:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 9764 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_3 completed with success=False +[05/27 20:15:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9764: 1 episodes +[05/27 20:15:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:15:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:15:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9764 +[05/27 20:15:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9764 in 2.52s (batch: 2.42s, save: 0.09s) +[05/27 20:15:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9764 +[05/27 20:15:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9764: 0/1 successful episodes +[05/27 20:15:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9915 (index 112/113) +[05/27 20:15:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 20:15:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place rectangular green tissue box with tissues next to pink cellphone +[2026-05-27 20:17:30,344] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:18:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:22:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 9915 episode 0 object objatissuebox_2bd98e8ea09f49bd85453a927011d31d_2_0_2 completed with success=False +[05/27 20:22:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9915: 1 episodes +[05/27 20:22:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:22:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:22:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9915 +[05/27 20:22:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9915 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 20:22:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9915 +[05/27 20:22:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9915: 0/1 successful episodes +[05/27 20:22:41 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 20:22:41 INFO pipeline.py:1496] Completed 113 houses, skipped 0 houses +[05/27 20:22:41 INFO pipeline.py:1499] Success count: 2, Total count: 117 +[05/27 20:22:41 INFO pipeline.py:1500] Success rate: 1.71% +Combined 117 episodes from 113 files → /tmp/tmpe9_ac7oe.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv at-end: 1.71% | oracle: 1.71% of 117 episodes +[2026-05-27 20:22:55,435] INFO MolmoSpaces simulator eval finished: success=2/117 rate=0.0171 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval +[2026-05-27 20:22:55,435] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db4bc08eb5db0c75e4fcd4beaf2830b44d82617f --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..6cc5175f7d7399e2e820793df8bd2fcb06066adf --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv @@ -0,0 +1,114 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.241905,0.0 +latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.172868,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.476721,0.0 +latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,129.144133,0.0 +latest,Objaanimalsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.245989,0.0 +latest,Objabarcodescanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.490091,0.0 +latest,Objabeltbuckle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.416051,0.0 +latest,Objabomb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.743636,0.0 +latest,Objabone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.017309,0.0 +latest,Objaboot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.708242,0.0 +latest,Objacamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,160.554892,0.0 +latest,Objacandlestickholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.357501,0.0 +latest,Objacassetteplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.074884,0.0 +latest,Objaceramiccat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.421046,0.0 +latest,Objaceramicjug,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,33.349164,0.0 +latest,Objaceramiclid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.092916,0.0 +latest,Objaceramicvessel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.126939,0.0 +latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.9677,0.0 +latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.888566,0.0 +latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.262391,0.0 +latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.597517,0.0 +latest,Objaconcealedhinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.821918,0.0 +latest,Objaconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.076868,0.0 +latest,Objacornermolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.007789,0.0 +latest,Objacrown,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.308981,0.0 +latest,Objadecorativebell,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.124584,11.78064 +latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.883781,0.0 +latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.404085,0.0 +latest,Objadecorativefish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,69.194065,0.0 +latest,Objadecorativenameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.356775,0.0 +latest,Objadecorativereplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.259742,0.0 +latest,Objadecorativestrip,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.836644,0.0 +latest,Objadecorativetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.130253,0.0 +latest,Objadecorativewedge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.239805,0.0 +latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.027271,0.0 +latest,Objadigitalradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.689482,0.0 +latest,Objadraftingcompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.869052,0.0 +latest,Objaeducationaltoy,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,34.081786,12.793365 +latest,Objafilmcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.69866,0.0 +latest,Objaflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.865625,0.0 +latest,Objafuturisticdisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.696554,0.0 +latest,Objagamingmouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.862129,0.0 +latest,Objagardengnome,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,37.226605,1.31339 +latest,Objagardenhosenozzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.937735,0.0 +latest,Objagarlic,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.323631,0.0 +latest,Objagarlicbulb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.342947,0.0 +latest,Objagastorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.045723,0.0 +latest,Objagavel,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,78.167837,50.934222 +latest,Objagemstone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.654855,0.0 +latest,Objageologicalspecimen,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.215621,0.0 +latest,Objagingerroot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.406002,0.0 +latest,Objaglove,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.618043,0.0 +latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.387382,0.0 +latest,Objahandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.818404,0.0 +latest,Objaheadpiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.967566,0.0 +latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.950803,0.0 +latest,Objakeychainholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.694927,0.0 +latest,Objakeyholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.399247,0.0 +latest,Objakylix,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.905875,0.0 +latest,Objalighthouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.227568,0.0 +latest,Objalightswitchcoverplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.334524,0.0 +latest,Objamegaphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.438371,0.0 +latest,Objametalrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,120.879275,0.0 +latest,Objamobilephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.096803,0.0 +latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.986921,0.0 +latest,Objamold,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.769433,0.0 +latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.384084,0.0 +latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.997469,0.0 +latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.472612,0.0 +latest,Objaoilcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.948498,0.0 +latest,Objapacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.214083,0.0 +latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,78.773444,0.0 +latest,Objapapercup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.966733,0.0 +latest,Objapastry,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.663908,0.0 +latest,Objapencilcase,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,47.475016,15.075075 +latest,Objapineapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.491923,0.0 +latest,Objaplasticcup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.222361,0.0 +latest,Objapliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.255145,0.0 +latest,Objapopupcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.901181,0.0 +latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.50514,0.0 +latest,Objapuzzletoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.84765,0.0 +latest,Objareplicabone,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,19.591968,0.0 +latest,Objascissors,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,79.343935,0.0 +latest,Objasignage,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.288103,8.69206 +latest,Objasmartspeaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.561748,0.0 +latest,Objasnackpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.451623,0.0 +latest,Objaspatula,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.122007,0.0 +latest,Objaspike,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,67.945844,42.604601 +latest,Objasportsshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.118138,0.0 +latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.606182,0.0 +latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.129635,0.0 +latest,Objastick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.916169,0.0 +latest,Objastonecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.426503,0.0 +latest,Objastonehammer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.849799,0.0 +latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.025241,0.0 +latest,Objastonetoolreplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.708831,0.0 +latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.883437,0.0 +latest,Objatapedispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.639682,0.0 +latest,Objatissuebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.732401,0.0 +latest,Objatoysoldier,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.300159,0.0 +latest,Objatradingcard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.503162,0.386498 +latest,Objatray,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.034727,0.0 +latest,Objavegetable,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.207684,0.0 +latest,Objavisorcap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.716056,0.0 +latest,Objaweight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.148439,0.0 +latest,Objawoodentool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.66877,0.0 +latest,Objayoyo,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.895991,0.0 +latest,Pot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.332986,0.0 +latest,OVERALL,2,117,1.71,0.53,5.99,2,1.71,0.53,5.99,42.137939,27.521359 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/summary.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6973bc04a4ea81d244590d9c113bd58f65efe92a --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/summary.json @@ -0,0 +1,201 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.017094017094017096, + "success_count": 2.0, + "total_episodes": 117.0, + "avg_episode_length": 443.94871794871796, + "oracle_done_rate": 0.017094017094017096, + "success_rate_pct": 1.71, + "oracle_rate_pct": 1.71 + }, + "stats": { + "total_episodes": 117, + "success_count": 2, + "failure_count": 115, + "success_rate": 0.017094017094017096, + "avg_episode_length": 443.94871794871796, + "min_episode_length": 44, + "max_episode_length": 449, + "num_houses": 113, + "house_success_rates": { + "house_1015": 0.0, + "house_1113": 0.0, + "house_1140": 0.0, + "house_1208": 0.0, + "house_1280": 0.0, + "house_1351": 1.0, + "house_1426": 0.0, + "house_1572": 0.0, + "house_1695": 0.0, + "house_1749": 0.0, + "house_1828": 0.0, + "house_1930": 0.0, + "house_2032": 0.0, + "house_2109": 0.0, + "house_2232": 0.0, + "house_2342": 0.0, + 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"house_9764": 0.0, + "house_9915": 0.0 + }, + "oracle_done_count": 2, + "oracle_done_rate": 0.017094017094017096, + "avg_successful_episode_length": 153.5 + }, + "success_count": 2, + "total_count": 117, + "success_rate": 0.017094017094017096, + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv", + "csv_overall_row": { + "policy": "latest", + "category": "OVERALL", + "successes": 2, + "total": 117, + "success_rate_pct": 1.71, + "ci_95_low_pct": 0.53, + "ci_95_high_pct": 5.99, + "oracle_successes": 2, + "oracle_rate_pct": 1.71, + "oracle_ci_95_low_pct": 0.53, + "oracle_ci_95_high_pct": 5.99, + "jerk_joint_mean": 42.137939, + "jerk_joint_std": 27.521359 + }, + "preview_video": null, + "skip_compose_videos": true, + "skip_csv": false, + "composed_video_count": 0, + "composed_videos": {} +} \ No newline at end of file diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/run.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/run.log new file mode 100644 index 0000000000000000000000000000000000000000..5425a329ed522d25b134ac716f6ca2e2211e6d8f --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/run.log @@ -0,0 +1,3664 @@ +[2026-05-26 19:43:51,224] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,226] INFO Using MuJoCo EGL device id: 3 +[2026-05-26 19:43:51,226] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,256] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 (source=arg) +[2026-05-26 19:43:53,231] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:04,147] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,280] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,752] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:15 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:15,796] INFO JsonEvalRunner initialized: 113 houses, 117 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 19:48:15 INFO pipeline.py:1279] Starting house-by-house rollout of 113 houses with 2 episodes each (226 total episodes) using 1 worker processes +[05/26 19:48:15 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:15 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [656, + 720, + 763, + 827, + 902, + 1015, + 1113, + 1140, + 1208, + 1280, + 1351, + 1426, + 1572, + 1695, + 1749, + 1828, + 1930, + 2032, + 2109, + 2232, + 2342, + 2458, + 2498, + 2634, + 2767, + 2843, + 2922, + 3043, + 3148, + 3239, + 3283, + 3368, + 3416, + 3514, + 3588, + 3718, + 3759, + 3900, + 3991, + 4028, + 4115, + 4198, + 4266, + 4306, + 4385, + 4476, + 4577, + 4654, + 4692, + 4766, + 4863, + 4929, + 5015, + 5130, + 5148, + 5186, + 5288, + 5445, + 5523, + 5596, + 5652, + 5755, + 5867, + 5914, + 6011, + 6100, + 6170, + 6250, + 6293, + 6378, + 6430, + 6533, + 6672, + 6755, + 6858, + 6934, + 6995, + 7065, + 7148, + 7230, + 7333, + 7347, + 7363, + 7440, + 7504, + 7625, + 7740, + 7841, + 7923, + 7997, + 8098, + 8183, + 8247, + 8326, + 8402, + 8481, + 8562, + 8689, + 8767, + 8857, + 8922, + 8993, + 9054, + 9112, + 9173, + 9279, + 9343, + 9476, + 9522, + 9603, + 9662, + 9764, + 9915], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:15,801] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:15 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:15 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 656 (index 0/113) +[05/26 19:48:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 19:48:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 19:48:33 Worker 0 WARNING object_manager.py:1238] Could not find object objacanvas_3ab20a02d16a492e82f8b7691cf8dd22_1_0_2 in scene +Goal: place dark nhl pencilcase next to simple light brown ceramic bowl +2026-05-26 19:48:34.038 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:35,001] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:36,909] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:37,539] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:37,789] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:37,793] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 19:58:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 656 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4 completed with success=False +[05/26 19:59:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_656: 1 episodes +[05/26 19:59:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:59:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:59:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_656 +[05/26 19:59:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_656 in 2.49s (batch: 2.40s, save: 0.09s) +[05/26 19:59:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_656 +[05/26 19:59:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 656: 0/1 successful episodes +[05/26 19:59:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 720 (index 1/113) +[05/26 19:59:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 720 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 19:59:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place cellphone next to bronze full-figured statue +[2026-05-26 20:00:22,907] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:00:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:14:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 720 episode 0 object objamobilephone_89cc4e542641469586dcd9274fc7fc61_1_0_9 completed with success=False +[05/26 20:14:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_720: 1 episodes +[05/26 20:14:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:14:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:14:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_720 +[05/26 20:14:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_720 in 2.67s (batch: 2.59s, save: 0.09s) +[05/26 20:14:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_720 +[05/26 20:14:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 720: 0/1 successful episodes +[05/26 20:14:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 763 (index 2/113) +[05/26 20:14:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:14:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/5 [00:00 does not support tracking retries. +Goal: place tall golden spike with base next to thick blue hardcover programming book +[2026-05-26 20:16:00,796] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:20:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 763 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_2 completed with success=False +[05/26 20:21:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_763: 1 episodes +[05/26 20:21:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:21:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:21:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_763 +[05/26 20:21:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_763 in 2.59s (batch: 2.50s, save: 0.08s) +[05/26 20:21:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_763 +[05/26 20:21:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 763: 0/1 successful episodes +[05/26 20:21:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 827 (index 3/113) +[05/26 20:21:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 827 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:21:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place black spherical bomb with fuse next to green spherical topiary +[2026-05-26 20:22:38,602] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:23:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:35:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 827 episode 0 object objabomb_dde8319900f34ee78b0cb7674d99d689_1_0_4 completed with success=False +[05/26 20:35:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_827: 1 episodes +[05/26 20:35:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:35:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:35:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_827 +[05/26 20:35:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_827 in 2.70s (batch: 2.60s, save: 0.10s) +[05/26 20:35:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_827 +[05/26 20:35:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 827: 0/1 successful episodes +[05/26 20:35:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 902 (index 4/113) +[05/26 20:35:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:35:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 20:35:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place brown rusty cylindrical vintage oilcan next to large stainless steel pot +[2026-05-26 20:36:29,697] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:37:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:46:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 902 episode 0 object objaoilcan_933032bd54804ebc9b8cfd1c6a46a15e_1_0_6 completed with success=False +[05/26 20:46:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_902: 1 episodes +[05/26 20:46:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:46:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:46:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_902 +[05/26 20:46:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_902 in 2.47s (batch: 2.38s, save: 0.09s) +[05/26 20:46:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_902 +[05/26 20:46:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 902: 0/1 successful episodes +[05/26 20:46:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1015 (index 5/113) +[05/26 20:46:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:46:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_4b2c3143f409251db55cb5ac5dcb1f3c_2_0_6 in scene +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_2a52cf5324d94d75c620c4f6f505fbec_1_0_6 in scene +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_02f4ae923e5b4aa7bf0d338cf7423ef7_1_0_9 in scene +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_9 in scene +Goal: place ornate vintage brass bell next to white quilted pillow +[2026-05-26 20:47:50,537] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:06:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 1015 episode 0 object objadecorativebell_0e38f4e9fecb4dd49f7e4aa00fcc121d_1_0_4 completed with success=False +[05/26 21:06:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1015: 1 episodes +[05/26 21:06:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:06:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:06:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1015 +[05/26 21:06:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1015 in 2.50s (batch: 2.42s, save: 0.09s) +[05/26 21:06:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1015 +[05/26 21:06:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1015: 0/1 successful episodes +[05/26 21:06:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1113 (index 6/113) +[05/26 21:06:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1113 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 21:06:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place round stone weight with metal ring next to green plastic spray bottle +[2026-05-26 21:08:34,301] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:09:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 1113 episode 0 object objaweight_fceabaa7a09d4072b6befd0625cb4031_1_0_2 completed with success=False +[05/26 21:10:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1113: 1 episodes +[05/26 21:10:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:10:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:10:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1113 +[05/26 21:10:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1113 in 2.70s (batch: 2.60s, save: 0.09s) +[05/26 21:10:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1113 +[05/26 21:10:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1113: 0/1 successful episodes +[05/26 21:10:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1140 (index 7/113) +[05/26 21:10:49 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 21:10:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place green gemstone next to red spaceship +[2026-05-26 21:12:12,522] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 1140 episode 0 object objagemstone_f465cd539c064a27ad4f7e57c84afb7c_1_0_4 completed with success=False +[05/26 21:28:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place greek kylix next to small green house plant in pot +[2026-05-26 21:29:53,452] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:30:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:46:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 1140 episode 1 object objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_7 completed with success=False +[05/26 21:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1140: 2 episodes +[05/26 21:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140 +[05/26 21:46:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1140 in 4.97s (batch: 4.81s, save: 0.16s) +[05/26 21:46:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1140 +[05/26 21:46:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1140: 0/2 successful episodes +[05/26 21:46:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1208 (index 8/113) +[05/26 21:46:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 21:46:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 21:46:24 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place ornate bronze bell with engravings next to soft white pillow with quilting +[2026-05-26 21:47:26,319] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:47:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:03:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 1208 episode 0 object objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4 completed with success=False +[05/26 22:03:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1208: 1 episodes +[05/26 22:03:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:03:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:03:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1208 +[05/26 22:03:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1208 in 2.68s (batch: 2.59s, save: 0.09s) +[05/26 22:03:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1208 +[05/26 22:03:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1208: 0/1 successful episodes +[05/26 22:03:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1280 (index 9/113) +[05/26 22:03:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1280 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:03:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/26 22:03:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_2 in scene +Goal: place glossy teal ceramic cat with patterns next to blue mushroom +[2026-05-26 22:04:40,387] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:05:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:13:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1280 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_7 completed with success=False +[05/26 22:13:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1280: 1 episodes +[05/26 22:13:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:13:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:13:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1280 +[05/26 22:13:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1280 in 2.57s (batch: 2.47s, save: 0.10s) +[05/26 22:13:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1280 +[05/26 22:13:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1280: 0/1 successful episodes +[05/26 22:13:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1351 (index 10/113) +[05/26 22:13:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:13:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place ceramic jug next to tall dark cup with ridges base +[2026-05-26 22:14:48,337] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:15:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:21:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 1351 episode 0 object objaceramicjug_4ce0f5ece3c7422c9ec23470cc38b088_1_0_8 completed with success=True +[05/26 22:21:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1351: 1 episodes +[05/26 22:21:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 265 timesteps +[05/26 22:21:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:21:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1351 +[05/26 22:21:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1351 in 2.44s (batch: 2.37s, save: 0.06s) +[05/26 22:21:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1351 +[05/26 22:21:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1351: 1/1 successful episodes +[05/26 22:21:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1426 (index 11/113) +[05/26 22:21:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1426 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:21:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 22:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene +[05/26 22:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place push-button radio next to colored hardcover sketchbook +[2026-05-26 22:22:20,153] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:22:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:38:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 1426 episode 0 object objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_4 completed with success=False +[05/26 22:38:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1426: 1 episodes +[05/26 22:38:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:38:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:38:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1426 +[05/26 22:38:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1426 in 2.63s (batch: 2.54s, save: 0.09s) +[05/26 22:38:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1426 +[05/26 22:38:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1426: 0/1 successful episodes +[05/26 22:38:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1572 (index 12/113) +[05/26 22:38:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:38:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place compass next to brown cardboard box +[2026-05-26 22:39:14,911] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:39:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:46:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 1572 episode 0 object objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_7 completed with success=False +[05/26 22:46:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1572: 1 episodes +[05/26 22:46:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:46:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:46:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1572 +[05/26 22:46:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1572 in 2.48s (batch: 2.39s, save: 0.09s) +[05/26 22:46:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1572 +[05/26 22:46:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1572: 0/1 successful episodes +[05/26 22:46:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1695 (index 13/113) +[05/26 22:46:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1695 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:46:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 22:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturecastletower_a08a00d32f694f219170f6867cbc7d46_1_0_5 in scene +[05/26 22:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place breadstuff next to bulbous shiny gold metallic vase +[2026-05-26 22:47:41,650] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:48:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:56:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 1695 episode 0 object objapastry_02f82d69871941859c7cd594bb3fc0b4_1_0_8 completed with success=False +[05/26 22:56:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1695: 1 episodes +[05/26 22:56:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:56:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:56:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1695 +[05/26 22:56:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1695 in 2.48s (batch: 2.39s, save: 0.09s) +[05/26 22:56:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1695 +[05/26 22:56:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1695: 0/1 successful episodes +[05/26 22:56:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1749 (index 14/113) +[05/26 22:56:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:56:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place wooden gavel with decorative cord next to ancient fossilized skull +[2026-05-26 22:57:46,069] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:07:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1749 episode 0 object objagavel_8bdbe3dbca7b49b488026595937f5009_1_0_2 completed with success=False +[05/26 23:07:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1749: 1 episodes +[05/26 23:07:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:07:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:07:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1749 +[05/26 23:07:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1749 in 2.60s (batch: 2.51s, save: 0.09s) +[05/26 23:07:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1749 +[05/26 23:07:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1749: 0/1 successful episodes +[05/26 23:07:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1828 (index 15/113) +[05/26 23:07:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1828 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:07:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place mounting bracket next to shallow white square bowl +[2026-05-26 23:09:28,715] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:10:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:22:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 1828 episode 0 object objamountingbracket_61d93824512b4446be5195ab592ae138_1_0_4 completed with success=False +[05/26 23:22:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1828: 1 episodes +[05/26 23:22:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:22:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:22:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1828 +[05/26 23:22:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1828 in 2.54s (batch: 2.45s, save: 0.09s) +[05/26 23:22:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1828 +[05/26 23:22:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1828: 0/1 successful episodes +[05/26 23:22:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1930 (index 16/113) +[05/26 23:22:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1930 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:22:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place red apple next to red rectangular lucky charms box +[2026-05-26 23:23:37,732] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:24:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:34:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1930 episode 0 object apple_3076d24521ee5e895156b37b1b9fb130_1_0_6 completed with success=False +[05/26 23:34:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1930: 1 episodes +[05/26 23:34:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:34:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:34:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1930 +[05/26 23:34:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1930 in 2.51s (batch: 2.42s, save: 0.09s) +[05/26 23:34:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1930 +[05/26 23:34:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1930: 0/1 successful episodes +[05/26 23:34:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2032 (index 17/113) +[05/26 23:34:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:34:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place red lighthouse with framework next to purple spray bottle with nozzle +[2026-05-26 23:39:03,533] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:55:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2032 episode 0 object objalighthouse_38f4ca24b0e94683b7becccda1b8f9ca_1_0_5 completed with success=False +[05/26 23:55:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2032: 1 episodes +[05/26 23:55:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:55:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:55:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2032 +[05/26 23:55:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2032 in 2.55s (batch: 2.46s, save: 0.09s) +[05/26 23:55:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2032 +[05/26 23:55:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2032: 0/1 successful episodes +[05/26 23:55:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2109 (index 18/113) +[05/26 23:55:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2109 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:55:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place wood chisel next to bronze female statue +[2026-05-27 00:03:28,303] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:17:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 2109 episode 0 object objachisel_6938a8ad91724ed29b96ef4b7beb5f23_1_0_9 completed with success=False +[05/27 00:17:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2109: 1 episodes +[05/27 00:17:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:17:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:17:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2109 +[05/27 00:17:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2109 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 00:17:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2109 +[05/27 00:17:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2109: 0/1 successful episodes +[05/27 00:17:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2232 (index 19/113) +[05/27 00:17:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2232 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 00:17:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 00:19:35 Worker 0 WARNING object_manager.py:1238] Could not find object objapaintbucket_9dec0ba6f4b9475a838f3081c10943fd_1_0_2 in scene +[05/27 00:19:35 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_7e064d39aa61ae3983505d5955fcd947_1_0_2 in scene +Goal: place small brown shrew figure next to armour plate +[2026-05-27 00:20:37,880] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:21:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:30:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 2232 episode 0 object objaanimalsculpture_1dc0a7826fdd4279b8041fab6c370d07_1_0_7 completed with success=False +[05/27 00:30:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2232: 1 episodes +[05/27 00:30:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:30:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:30:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2232 +[05/27 00:30:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2232 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 00:30:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2232 +[05/27 00:30:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2232: 0/1 successful episodes +[05/27 00:30:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2342 (index 20/113) +[05/27 00:30:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2342 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 00:30:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place brown spotted ceramic animal vessel next to spray bottle +[2026-05-27 00:31:44,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:32:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:41:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 2342 episode 0 object objaceramicvessel_c292b6f0b87b4272ba67504efdda2958_1_0_6 completed with success=False +[05/27 00:41:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2342: 1 episodes +[05/27 00:41:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:41:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:41:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2342 +[05/27 00:41:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2342 in 2.65s (batch: 2.56s, save: 0.10s) +[05/27 00:41:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2342 +[05/27 00:41:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2342: 0/1 successful episodes +[05/27 00:41:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2458 (index 21/113) +[05/27 00:41:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2458 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 00:41:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 00:42:23 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_9 in scene +[05/27 00:42:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_9 in scene +Goal: place red pagoda pop-up card next to red spiky spherical virus model +[2026-05-27 00:43:25,874] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:02:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2458 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_6 completed with success=False +[05/27 01:02:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2458: 1 episodes +[05/27 01:02:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:02:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:02:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2458 +[05/27 01:02:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2458 in 2.52s (batch: 2.42s, save: 0.09s) +[05/27 01:02:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2458 +[05/27 01:02:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2458: 0/1 successful episodes +[05/27 01:02:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2498 (index 22/113) +[05/27 01:02:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2498 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:02:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 01:04:55 Worker 0 WARNING object_manager.py:1238] Could not find object objahatchet_0dfc7c5654e945daac9bd0ab195b24ee_1_0_3 in scene +Goal: place beige spatula next to smooth beige egg +[2026-05-27 01:05:57,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:23:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 2498 episode 0 object objaspatula_8208e17164a04672bfabc6152ff43e71_1_0_2 completed with success=False +[05/27 01:23:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2498: 1 episodes +[05/27 01:23:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:23:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:23:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2498 +[05/27 01:23:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2498 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 01:23:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2498 +[05/27 01:23:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2498: 0/1 successful episodes +[05/27 01:23:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2634 (index 23/113) +[05/27 01:23:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:23:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place white paper cup with starbucks logo next to bulbous shiny gold vase +[2026-05-27 01:25:24,903] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:26:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:38:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 2634 episode 0 object objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_8 completed with success=False +[05/27 01:38:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2634: 1 episodes +[05/27 01:38:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:38:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:38:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2634 +[05/27 01:38:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2634 in 2.55s (batch: 2.46s, save: 0.09s) +[05/27 01:38:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2634 +[05/27 01:38:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2634: 0/1 successful episodes +[05/27 01:38:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2767 (index 24/113) +[05/27 01:38:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:38:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +[05/27 01:39:05 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodentag_a497eb1b77174981bc3ff68b9905287c_1_0_2 in scene +[05/27 01:39:05 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2 in scene +Goal: place brown wooden gavel next to soap bottle +[2026-05-27 01:40:08,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:40:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:46:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 2767 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False +[05/27 01:46:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2767: 1 episodes +[05/27 01:46:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:46:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:46:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2767 +[05/27 01:46:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2767 in 2.53s (batch: 2.44s, save: 0.09s) +[05/27 01:46:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2767 +[05/27 01:46:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2767: 0/1 successful episodes +[05/27 01:46:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2843 (index 25/113) +[05/27 01:46:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2843 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:46:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 01:47:04 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyairship_85970e5b079d4550b282ce7a659a8777_1_0_9 in scene +[05/27 01:47:04 Worker 0 WARNING object_manager.py:1238] Could not find object plate_6507c0d0aa81061e355e493065f753b3_1_0_9 in scene +Goal: place small beige clay tablet with engravings next to gray sports shoe with black swoosh +[2026-05-27 01:48:07,434] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:03:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 2843 episode 0 object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7 completed with success=False +[05/27 02:03:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2843: 1 episodes +[05/27 02:03:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:03:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:03:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2843 +[05/27 02:03:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2843 in 2.65s (batch: 2.53s, save: 0.12s) +[05/27 02:03:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2843 +[05/27 02:03:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2843: 0/1 successful episodes +[05/27 02:03:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2922 (index 26/113) +[05/27 02:03:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2922 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:03:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 02:04:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturebuildingmodel_41aa4d0aa1684201ae816be715e37748_1_0_9 in scene +[05/27 02:04:20 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_9 in scene +Goal: place gnome with red hat next to translucent ergonomic spray bottle +[2026-05-27 02:05:23,750] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:06:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:20:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2922 episode 0 object objagardengnome_a6cecca0308e43878a034c5f45b098a9_1_0_8 completed with success=False +[05/27 02:20:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2922: 1 episodes +[05/27 02:20:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:20:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:20:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2922 +[05/27 02:20:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2922 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 02:20:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2922 +[05/27 02:20:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2922: 0/1 successful episodes +[05/27 02:20:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3043 (index 27/113) +[05/27 02:20:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3043 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:20:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object objabowtie_c6e9f4585a054e5fb0a86b42c94d0d9b_1_0_2 in scene +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_2 in scene +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_3 in scene +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object objawallsection_a068840f0154440a9ab4c4ab73217fb5_1_0_3 in scene +Goal: place blue dotted sign wall decoration next to ripe red tomato +[2026-05-27 02:22:01,271] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:30:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 3043 episode 0 object objasignage_29124066089941bbb3fa3517a686019c_1_0_2 completed with success=False +[05/27 02:30:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3043: 1 episodes +[05/27 02:30:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:30:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:30:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3043 +[05/27 02:30:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3043 in 2.63s (batch: 2.54s, save: 0.09s) +[05/27 02:30:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3043 +[05/27 02:30:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3043: 0/1 successful episodes +[05/27 02:30:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3148 (index 28/113) +[05/27 02:30:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:30:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place colorful geometric molecular model next to white toy cannon with yellow spirals +[2026-05-27 02:32:44,430] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:33:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:45:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 3148 episode 0 object objaeducationaltoy_6b36a0d3ca22472280b1d9c57dfd88b6_1_0_6 completed with success=False +[05/27 02:45:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3148: 1 episodes +[05/27 02:45:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:46:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:46:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3148 +[05/27 02:46:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3148 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 02:46:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3148 +[05/27 02:46:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3148: 0/1 successful episodes +[05/27 02:46:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3239 (index 29/113) +[05/27 02:46:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3239 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:46:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place smooth plastic realistic hand model next to thick hardcover blue book +[2026-05-27 02:47:08,971] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:47:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:53:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3239 episode 0 object objahandmodel_ed06e3aa4fea4cd9b37746b2101d4ca5_1_0_2 completed with success=False +[05/27 02:53:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3239: 1 episodes +[05/27 02:53:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:53:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:53:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3239 +[05/27 02:53:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3239 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 02:53:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3239 +[05/27 02:53:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3239: 0/1 successful episodes +[05/27 02:53:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3283 (index 30/113) +[05/27 02:53:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:53:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place bright yellow crown with text "barbearia king next to medium smooth yellow apple with stem +[2026-05-27 02:54:41,337] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:04:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3283 episode 0 object objacrown_5847bde4308c4d9da7345bff00cb4d55_1_0_6 completed with success=False +[05/27 03:04:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3283: 1 episodes +[05/27 03:04:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:04:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:04:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3283 +[05/27 03:04:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3283 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 03:04:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3283 +[05/27 03:04:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3283: 0/1 successful episodes +[05/27 03:04:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3368 (index 31/113) +[05/27 03:04:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3368 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:04:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 03:04:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place light rectangular amulet with figure next to gold vase +[2026-05-27 03:05:22,514] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:05:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:17:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3368 episode 0 object objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_8 completed with success=False +[05/27 03:17:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3368: 1 episodes +[05/27 03:17:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:17:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:17:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3368 +[05/27 03:17:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3368 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 03:17:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3368 +[05/27 03:17:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3368: 0/1 successful episodes +[05/27 03:17:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3416 (index 32/113) +[05/27 03:17:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:17:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place wavy strip with gradient next to smooth green rectangular pillow cushion +[2026-05-27 03:18:44,217] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:31:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3416 episode 0 object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_9 completed with success=False +[05/27 03:31:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3416: 1 episodes +[05/27 03:31:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:31:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:31:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3416 +[05/27 03:31:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3416 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 03:31:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3416 +[05/27 03:31:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3416: 0/1 successful episodes +[05/27 03:31:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3514 (index 33/113) +[05/27 03:31:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:31:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place green plastic package next to tall vase with scalloped rim +[2026-05-27 03:32:39,744] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:33:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:34:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3514 episode 0 object objasnackpackage_4b807308e65c4ecd85b8bb1cd5d8da4a_1_0_2 completed with success=False +[05/27 03:34:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3514: 1 episodes +[05/27 03:34:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:34:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:34:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3514 +[05/27 03:34:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3514 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 03:34:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3514 +[05/27 03:34:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3514: 0/1 successful episodes +[05/27 03:34:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3588 (index 34/113) +[05/27 03:34:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3588 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:34:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place dark wooden tool next to polished smooth rounded blue bowl +[2026-05-27 03:35:48,232] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:36:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:43:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 3588 episode 0 object objawoodentool_6727d5933a6f4097a678f6ee8b3d1de0_1_0_2 completed with success=False +[05/27 03:43:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3588: 1 episodes +[05/27 03:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:43:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:43:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3588 +[05/27 03:43:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3588 in 2.64s (batch: 2.56s, save: 0.09s) +[05/27 03:43:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3588 +[05/27 03:43:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3588: 0/1 successful episodes +[05/27 03:43:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3718 (index 35/113) +[05/27 03:43:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3718 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:43:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place geologicalspecimen next to pencil +[2026-05-27 03:44:42,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:45:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:58:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3718 episode 0 object objageologicalspecimen_226e782eecfb47018de9a781a77276d0_1_0_8 completed with success=False +[05/27 03:58:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3718: 1 episodes +[05/27 03:58:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:58:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:58:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3718 +[05/27 03:58:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3718 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 03:58:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3718 +[05/27 03:58:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3718: 0/1 successful episodes +[05/27 03:58:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3759 (index 36/113) +[05/27 03:58:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3759 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:58:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[05/27 03:58:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_3 in scene +[05/27 03:58:19 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_3 in scene +Goal: place denture next to red lighthouse with framework +[2026-05-27 03:59:23,075] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:59:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:06:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 3759 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_3 completed with success=False +[05/27 04:06:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3759: 1 episodes +[05/27 04:06:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:06:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:06:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3759 +[05/27 04:06:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3759 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 04:06:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3759 +[05/27 04:06:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3759: 0/1 successful episodes +[05/27 04:06:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3900 (index 37/113) +[05/27 04:06:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:06:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place beige ceramic lid with central knob next to translucent ergonomic spray bottle +[2026-05-27 04:08:04,693] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:08:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:18:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 3900 episode 0 object objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_6 completed with success=False +[05/27 04:18:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3900: 1 episodes +[05/27 04:18:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:18:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:18:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3900 +[05/27 04:18:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3900 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 04:18:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3900 +[05/27 04:18:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3900: 0/1 successful episodes +[05/27 04:18:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3991 (index 38/113) +[05/27 04:18:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:18:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place green nameplate next to glossy wooden tapered cup +[2026-05-27 04:19:43,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:20:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:21:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3991 episode 0 object objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_6 completed with success=False +[05/27 04:21:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue puzzle piece with rainbow clouds next to modern black faucet with spray +[2026-05-27 04:22:45,226] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:23:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:32:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 3991 episode 1 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6 completed with success=False +[05/27 04:32:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3991: 2 episodes +[05/27 04:32:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:32:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:32:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:32:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:32:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3991 +[05/27 04:32:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3991 in 5.37s (batch: 5.19s, save: 0.17s) +[05/27 04:32:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3991 +[05/27 04:32:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3991: 0/2 successful episodes +[05/27 04:32:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4028 (index 39/113) +[05/27 04:32:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4028 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:32:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 04:32:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene +Goal: place lifelike yellow striped wasp model next to weathered stone disc +[2026-05-27 04:33:35,282] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:34:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:43:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 4028 episode 0 object objainsect_f384c01929c74ff49375cb5f79f03466_1_0_7 completed with success=False +[05/27 04:43:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4028: 1 episodes +[05/27 04:43:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:43:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:43:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4028 +[05/27 04:43:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4028 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 04:43:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4028 +[05/27 04:43:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4028: 0/1 successful episodes +[05/27 04:43:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4115 (index 40/113) +[05/27 04:43:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:43:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 04:43:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaabstractsculpture_50fd637c724a48e8940360d6690663ba_1_0_2 in scene +Goal: place metal pliers tool next to blue patterned phone +[2026-05-27 04:44:51,171] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:45:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:53:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4115 episode 0 object objapliers_0aad9dd2a4cf4eb28b87b0e67dc7ec18_1_0_6 completed with success=False +[05/27 04:53:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4115: 1 episodes +[05/27 04:53:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:53:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:53:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4115 +[05/27 04:53:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4115 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 04:53:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4115 +[05/27 04:53:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4115: 0/1 successful episodes +[05/27 04:53:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4198 (index 41/113) +[05/27 04:53:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4198 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:53:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 04:54:07 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyairplane_727f33155d8c46fc9f01a7ee7c346538_1_0_6 in scene +[05/27 04:54:07 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_e1cf88813ab29e11ba18f4177beb0346_1_0_6 in scene +[05/27 04:54:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_7 in scene +Goal: place fresh pineapple with spiky green leaves next to fresh elongated green romaine lettuce +[2026-05-27 04:55:10,692] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:55:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:05:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 4198 episode 0 object objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_6 completed with success=False +[05/27 05:05:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4198: 1 episodes +[05/27 05:05:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:06:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:06:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4198 +[05/27 05:06:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4198 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 05:06:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4198 +[05/27 05:06:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4198: 0/1 successful episodes +[05/27 05:06:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4266 (index 42/113) +[05/27 05:06:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:06:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place vintage black camera next to bulbous shiny gold metallic vase +[2026-05-27 05:07:14,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:26:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4266 episode 0 object objacamera_f49a08efb8a544efb98d4d806b0d1c27_1_0_4 completed with success=False +[05/27 05:26:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4266: 1 episodes +[05/27 05:26:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:26:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:26:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4266 +[05/27 05:26:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4266 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 05:26:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4266 +[05/27 05:26:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4266: 0/1 successful episodes +[05/27 05:26:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4306 (index 43/113) +[05/27 05:26:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:26:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place brown leather high-top boot next to brown cardboard box open +[2026-05-27 05:27:41,706] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:28:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:42:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4306 episode 0 object objaboot_83072c9d2cf54194a165897bc77196c1_1_0_6 completed with success=False +[05/27 05:42:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4306: 1 episodes +[05/27 05:42:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:42:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:42:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4306 +[05/27 05:42:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4306 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 05:42:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4306 +[05/27 05:42:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4306: 0/1 successful episodes +[05/27 05:42:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4385 (index 44/113) +[05/27 05:42:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:42:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place garden hose nozzle next to apple +[2026-05-27 05:44:00,655] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:54:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4385 episode 0 object objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_6 completed with success=False +[05/27 05:54:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4385: 1 episodes +[05/27 05:54:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:54:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:54:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4385 +[05/27 05:54:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4385 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 05:54:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4385 +[05/27 05:54:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4385: 0/1 successful episodes +[05/27 05:54:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4476 (index 45/113) +[05/27 05:54:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4476 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:54:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 05:54:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_7447e37e0378480c9e30e943350f8ab7_1_0_7 in scene +Goal: place red keychain next to smooth yellow egg with black zigzag +[2026-05-27 05:55:38,366] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:56:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:09:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4476 episode 0 object objakeychainholder_073e7cc7e9cf4968afc05d50528c7f9b_1_0_9 completed with success=False +[05/27 06:09:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4476: 1 episodes +[05/27 06:09:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:09:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:09:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4476 +[05/27 06:09:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4476 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 06:09:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4476 +[05/27 06:09:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4476: 0/1 successful episodes +[05/27 06:09:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4577 (index 46/113) +[05/27 06:09:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:09:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place ginger root next to blue spray bottle +[2026-05-27 06:10:23,959] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:19:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4577 episode 0 object objagingerroot_e8e250f94c6a4c51b71f15e1a3b36e25_1_0_6 completed with success=False +[05/27 06:20:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4577: 1 episodes +[05/27 06:20:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:20:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:20:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4577 +[05/27 06:20:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4577 in 2.64s (batch: 2.54s, save: 0.10s) +[05/27 06:20:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4577 +[05/27 06:20:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4577: 0/1 successful episodes +[05/27 06:20:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4654 (index 47/113) +[05/27 06:20:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:20:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place golden metallic laurel wreath headpiece next to vintage metal tag +[2026-05-27 06:21:20,792] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:37:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4654 episode 0 object objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_9 completed with success=False +[05/27 06:37:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4654: 1 episodes +[05/27 06:37:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:37:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:37:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4654 +[05/27 06:37:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4654 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 06:37:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4654 +[05/27 06:37:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4654: 0/1 successful episodes +[05/27 06:37:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4692 (index 48/113) +[05/27 06:37:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:37:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place green armored character card with text next to conical soap bottle with pump +[2026-05-27 06:38:29,147] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:39:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:44:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4692 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_2 completed with success=False +[05/27 06:44:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4692: 1 episodes +[05/27 06:44:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:44:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:44:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4692 +[05/27 06:44:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4692 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 06:44:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4692 +[05/27 06:44:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4692: 0/1 successful episodes +[05/27 06:44:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4766 (index 49/113) +[05/27 06:44:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:44:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place white egg next to tall dark cup with ridges base +[2026-05-27 06:45:42,834] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:46:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:54:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4766 episode 0 object egg_768abcb7b01b3935a0261a8d2ef92b12_1_0_2 completed with success=False +[05/27 06:54:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4766: 1 episodes +[05/27 06:54:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:54:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:54:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4766 +[05/27 06:54:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4766 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 06:54:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4766 +[05/27 06:54:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4766: 0/1 successful episodes +[05/27 06:54:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4863 (index 50/113) +[05/27 06:54:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:54:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 06:54:42 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicatooth_c7bf1c4c76f74da4bbc1620e1173e189_1_0_3 in scene +[05/27 06:54:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_3 in scene +Goal: place dark blue wedge next to wooden bookmark with butterfly +[2026-05-27 06:55:45,682] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:56:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:08:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4863 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_4 completed with success=False +[05/27 07:08:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4863: 1 episodes +[05/27 07:08:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:08:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:08:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4863 +[05/27 07:08:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4863 in 2.56s (batch: 2.47s, save: 0.09s) +[05/27 07:08:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4863 +[05/27 07:08:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4863: 0/1 successful episodes +[05/27 07:08:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4929 (index 51/113) +[05/27 07:08:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4929 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:08:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place rustic stone cup with hole next to vibrant abstract sculpture with colorful ribbons +[2026-05-27 07:09:34,031] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:10:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:25:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4929 episode 0 object objastonecup_5ef91e0bfe7b44da9f1d2944386cce85_1_0_2 completed with success=False +[05/27 07:25:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4929: 1 episodes +[05/27 07:25:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:25:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:25:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4929 +[05/27 07:25:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4929 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 07:25:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4929 +[05/27 07:25:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4929: 0/1 successful episodes +[05/27 07:25:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5015 (index 52/113) +[05/27 07:25:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:25:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place red plastic cup with white interior next to pink daisy blooming in pot +[2026-05-27 07:27:07,597] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:27:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:38:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 5015 episode 0 object objaplasticcup_84d301b896084a2f94f2835dd4ba2d94_1_0_6 completed with success=False +[05/27 07:38:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5015: 1 episodes +[05/27 07:38:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:38:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:38:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5015 +[05/27 07:38:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5015 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 07:38:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5015 +[05/27 07:38:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5015: 0/1 successful episodes +[05/27 07:38:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5130 (index 53/113) +[05/27 07:38:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5130 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:38:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_4 in scene +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_7 in scene +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_7 in scene +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_7 in scene +Goal: place cylindrical dark nhl pencilcase next to soapdispenser +[2026-05-27 07:39:19,754] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:39:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:48:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 5130 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_8 completed with success=False +[05/27 07:48:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5130: 1 episodes +[05/27 07:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:48:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:48:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5130 +[05/27 07:48:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5130 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 07:48:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5130 +[05/27 07:48:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5130: 0/1 successful episodes +[05/27 07:48:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5148 (index 54/113) +[05/27 07:48:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:48:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 07:48:52 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_2cb7026ffacf4889bb265099b8460c7f_1_0_5 in scene +Goal: place bronze buckle with cowboy next to golden brown artisanal loaf of bread +[2026-05-27 07:49:54,777] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:50:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:00:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5148 episode 0 object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_6 completed with success=False +[05/27 08:00:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 08:00:55 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_2cb7026ffacf4889bb265099b8460c7f_1_0_5 in scene +Goal: place modern white tape dispenser next to black radiator with looping copper tubes +[2026-05-27 08:01:58,692] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:02:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:13:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5148 episode 1 object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5 completed with success=False +[05/27 08:13:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5148: 2 episodes +[05/27 08:13:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:13:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:13:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:13:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:13:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5148 +[05/27 08:13:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5148 in 5.13s (batch: 4.95s, save: 0.18s) +[05/27 08:13:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5148 +[05/27 08:13:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5148: 0/2 successful episodes +[05/27 08:13:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5186 (index 55/113) +[05/27 08:13:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5186 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:13:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 08:13:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_5 in scene +[05/27 08:13:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/27 08:13:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place cross-shaped metallic connector with holes next to spherical colorful puzzle ball with patterns +[2026-05-27 08:14:58,719] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:15:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:27:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 5186 episode 0 object objaconnector_72e520e59a5242198535fedad37a00f1_1_0_9 completed with success=False +[05/27 08:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5186: 1 episodes +[05/27 08:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:27:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:27:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5186 +[05/27 08:27:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5186 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 08:27:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5186 +[05/27 08:27:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5186: 0/1 successful episodes +[05/27 08:27:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5288 (index 56/113) +[05/27 08:27:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5288 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:27:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place blowtorch next to realistic pink brain model +[2026-05-27 08:29:06,965] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:29:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:41:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5288 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_8 completed with success=False +[05/27 08:41:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5288: 1 episodes +[05/27 08:41:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:41:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:41:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5288 +[05/27 08:41:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5288 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 08:41:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5288 +[05/27 08:41:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5288: 0/1 successful episodes +[05/27 08:41:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5445 (index 57/113) +[05/27 08:41:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5445 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:41:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place rustic wooden mug with handle next to aerosol container +[2026-05-27 08:42:20,596] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:55:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5445 episode 0 object objamug_8529afb010814c188970381c3596afef_1_0_8 completed with success=False +[05/27 08:55:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5445: 1 episodes +[05/27 08:55:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:55:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:55:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5445 +[05/27 08:55:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5445 in 2.50s (batch: 2.40s, save: 0.09s) +[05/27 08:55:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5445 +[05/27 08:55:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5445: 0/1 successful episodes +[05/27 08:55:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5523 (index 58/113) +[05/27 08:55:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:55:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place rusty metal rod next to realistic beige saber-toothed cat skull +[2026-05-27 08:56:58,753] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:12:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5523 episode 0 object objametalrod_18484b0d1a274d62abde66a9047600ca_1_0_9 completed with success=False +[05/27 09:12:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5523: 1 episodes +[05/27 09:12:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:12:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:12:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5523 +[05/27 09:12:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5523 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 09:12:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5523 +[05/27 09:12:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5523: 0/1 successful episodes +[05/27 09:12:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5596 (index 59/113) +[05/27 09:12:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5596 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:12:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place stone fish decor next to textured octagonal translucent soap bottle +[2026-05-27 09:13:45,072] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:14:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:24:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5596 episode 0 object objadecorativefish_5a1f0f032b2a4774887620ca540318c4_1_0_6 completed with success=False +[05/27 09:24:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5596: 1 episodes +[05/27 09:24:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:24:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:24:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5596 +[05/27 09:24:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5596 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 09:24:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5596 +[05/27 09:24:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5596: 0/1 successful episodes +[05/27 09:24:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5652 (index 60/113) +[05/27 09:24:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5652 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:24:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place white decorative corner molding next to transparent soap bottle with dark pump +[2026-05-27 09:26:04,662] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:26:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:33:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 5652 episode 0 object objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_2 completed with success=False +[05/27 09:33:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5652: 1 episodes +[05/27 09:33:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:33:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:33:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5652 +[05/27 09:33:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5652 in 2.53s (batch: 2.44s, save: 0.10s) +[05/27 09:33:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5652 +[05/27 09:33:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5652: 0/1 successful episodes +[05/27 09:33:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5755 (index 61/113) +[05/27 09:33:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:33:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place colorful geometric molecular model next to muscleman hanging on yellow rings +[2026-05-27 09:34:34,526] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:35:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:44:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5755 episode 0 object objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_7 completed with success=False +[05/27 09:44:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5755: 1 episodes +[05/27 09:44:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:44:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:44:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5755 +[05/27 09:44:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5755 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 09:44:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5755 +[05/27 09:44:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5755: 0/1 successful episodes +[05/27 09:44:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5867 (index 62/113) +[05/27 09:44:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:44:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place glossy black sign with pink next to glossy black sign with pink +[2026-05-27 09:45:40,281] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:46:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:52:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5867 episode 0 object objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_3 completed with success=False +[05/27 09:52:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5867: 1 episodes +[05/27 09:52:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:52:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:52:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5867 +[05/27 09:52:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5867 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 09:52:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5867 +[05/27 09:52:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5867: 0/1 successful episodes +[05/27 09:52:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5914 (index 63/113) +[05/27 09:52:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5914 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:52:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place vintage black film camera next to curved golden prism with ship +[2026-05-27 09:54:40,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:55:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:02:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5914 episode 0 object objafilmcamera_1d9723e8400443fabf6ed8a52b9a208d_1_0_3 completed with success=False +[05/27 10:02:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5914: 1 episodes +[05/27 10:02:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:02:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:02:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5914 +[05/27 10:02:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5914 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 10:02:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5914 +[05/27 10:02:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5914: 0/1 successful episodes +[05/27 10:02:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6011 (index 64/113) +[05/27 10:02:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6011 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:02:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place blocky toy soldier wearing red uniform next to black classic bar-style mobile phone +[2026-05-27 10:04:15,332] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:04:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:17:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 6011 episode 0 object objatoysoldier_e408c968b0f44a9d92ac92ad390b608a_1_0_4 completed with success=False +[05/27 10:17:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6011: 1 episodes +[05/27 10:17:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:17:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:17:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6011 +[05/27 10:17:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6011 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 10:17:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6011 +[05/27 10:17:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6011: 0/1 successful episodes +[05/27 10:17:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6100 (index 65/113) +[05/27 10:17:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6100 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:17:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue star-shaped mold with patterns next to tall dark cup with ridges base +[2026-05-27 10:18:31,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:19:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:29:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 6100 episode 0 object objamold_225720a070c046dba53c77e9a0a7716f_1_0_6 completed with success=False +[05/27 10:29:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6100: 1 episodes +[05/27 10:29:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:29:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:29:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6100 +[05/27 10:29:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6100 in 2.55s (batch: 2.46s, save: 0.09s) +[05/27 10:29:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6100 +[05/27 10:29:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6100: 0/1 successful episodes +[05/27 10:29:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6170 (index 66/113) +[05/27 10:29:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6170 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:29:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 10:29:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaelectricaloutlet_4e5f458de0884bf8a5b460b2bfdf3c41_1_0_2 in scene +Goal: place green packet next to decorative goblet with ribbon bow +[2026-05-27 10:30:15,054] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:30:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:33:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 6170 episode 0 object objapacket_30d0d5de961f4a889aeac04b1e81cd61_1_0_2 completed with success=False +[05/27 10:33:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6170: 1 episodes +[05/27 10:33:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:33:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:33:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6170 +[05/27 10:33:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6170 in 2.54s (batch: 2.45s, save: 0.09s) +[05/27 10:33:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6170 +[05/27 10:33:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6170: 0/1 successful episodes +[05/27 10:33:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6250 (index 67/113) +[05/27 10:33:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6250 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:33:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place worn brown work glove with cuff next to dark gray rounded cast iron pot +[2026-05-27 10:34:23,295] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:34:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:42:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6250 episode 0 object objaglove_437e50e2a7b441ba87d54392c39c0baf_1_0_6 completed with success=False +[05/27 10:42:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6250: 1 episodes +[05/27 10:42:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:42:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:42:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6250 +[05/27 10:42:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6250 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 10:42:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6250 +[05/27 10:42:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6250: 0/1 successful episodes +[05/27 10:42:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6293 (index 68/113) +[05/27 10:42:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6293 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:42:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 10:43:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 10:43:11 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_c337b092178a4931a68336c3e6f49287_1_0_5 in scene +[05/27 10:43:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +Goal: place blue metallic disc next to bulbous shiny gold vase +[2026-05-27 10:44:15,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:44:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:00:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 6293 episode 0 object objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_3 completed with success=False +[05/27 11:00:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6293: 1 episodes +[05/27 11:00:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:00:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:00:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6293 +[05/27 11:00:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6293 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 11:00:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6293 +[05/27 11:00:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6293: 0/1 successful episodes +[05/27 11:00:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6378 (index 69/113) +[05/27 11:00:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6378 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:00:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 11:00:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativefigurine_ad9c3e91ec494617a3fd842301dab227_1_0_4 in scene +[05/27 11:00:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place primitive off-white stone arrowhead tool next to white hardcover book about programming +[2026-05-27 11:01:43,154] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:02:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:17:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6378 episode 0 object objastonetool_ecbf9010c8ff4544867d28d237dab330_1_0_4 completed with success=False +[05/27 11:17:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6378: 1 episodes +[05/27 11:17:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:17:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:17:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6378 +[05/27 11:17:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6378 in 2.58s (batch: 2.48s, save: 0.09s) +[05/27 11:17:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6378 +[05/27 11:17:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6378: 0/1 successful episodes +[05/27 11:17:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6430 (index 70/113) +[05/27 11:17:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6430 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:17:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place sharp scissors with blue handles next to tall dark cup with ridges +[2026-05-27 11:18:52,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:19:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:24:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 6430 episode 0 object objascissors_c67efef1abeb41969eef84c06311fac6_1_0_2 completed with success=False +[05/27 11:24:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6430: 1 episodes +[05/27 11:24:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:24:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:24:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6430 +[05/27 11:24:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6430 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 11:24:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6430 +[05/27 11:24:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6430: 0/1 successful episodes +[05/27 11:24:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6533 (index 71/113) +[05/27 11:24:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6533 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:24:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place gamingmouse next to faded blue vintage car +[2026-05-27 11:26:18,972] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:26:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:35:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 6533 episode 0 object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6 completed with success=False +[05/27 11:35:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6533: 1 episodes +[05/27 11:35:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:35:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:35:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6533 +[05/27 11:35:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6533 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 11:35:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6533 +[05/27 11:35:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6533: 0/1 successful episodes +[05/27 11:35:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6672 (index 72/113) +[05/27 11:35:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:35:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 11:36:00 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +Goal: place brown stick next to brown bread +[2026-05-27 11:37:03,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:37:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:48:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 6672 episode 0 object objastick_973e872f05da428b9594feb65ec42e10_1_0_6 completed with success=False +[05/27 11:48:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6672: 1 episodes +[05/27 11:48:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:48:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:48:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6672 +[05/27 11:48:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6672 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 11:48:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6672 +[05/27 11:48:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6672: 0/1 successful episodes +[05/27 11:48:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6755 (index 73/113) +[05/27 11:48:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:48:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 11:48:57 Worker 0 WARNING object_manager.py:1238] Could not find object objametalartifact_ce43098d06304a5c854f996ce96bd02e_1_0_5 in scene +[05/27 11:48:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +Goal: place primitive stone hammer with wooden handle next to metallic brushed stainless steel toaster +[2026-05-27 11:50:02,121] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:05:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6755 episode 0 object objastonehammer_5222cf9dedae4a31882281f6d7bada89_1_0_8 completed with success=False +[05/27 12:05:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6755: 1 episodes +[05/27 12:05:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:05:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:05:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6755 +[05/27 12:05:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6755 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 12:05:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6755 +[05/27 12:05:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6755: 0/1 successful episodes +[05/27 12:05:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6858 (index 74/113) +[05/27 12:05:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6858 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:05:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place ergonomic black handheld scanner next to blue glossy vase +[2026-05-27 12:06:27,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:07:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:17:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 6858 episode 0 object objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_4 completed with success=False +[05/27 12:17:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6858: 1 episodes +[05/27 12:17:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:17:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:17:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6858 +[05/27 12:17:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6858 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 12:17:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6858 +[05/27 12:17:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6858: 0/1 successful episodes +[05/27 12:17:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6934 (index 75/113) +[05/27 12:17:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6934 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:17:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place replica bone next to pagoda with dragon and chains +[2026-05-27 12:19:05,715] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:19:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:20:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6934 episode 0 object objareplicabone_d016a23297944f2db6a6f92625f39bf0_1_0_7 completed with success=True +[05/27 12:20:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6934: 1 episodes +[05/27 12:20:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/27 12:20:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:20:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6934 +[05/27 12:20:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6934 in 2.39s (batch: 2.37s, save: 0.03s) +[05/27 12:20:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6934 +[05/27 12:20:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6934: 1/1 successful episodes +[05/27 12:20:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6995 (index 76/113) +[05/27 12:20:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:20:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objarockformation_4d2933a75ff24afc8b8a76cd9a33a4b3_1_0_2 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object cup_846a15223bb43478575a27d2329db25d_1_0_2 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_9 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_9 in scene +Goal: place large bulbous garlic with dried stem next to dark gray plate with ridges +[2026-05-27 12:22:11,499] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:22:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:40:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 6995 episode 0 object objagarlicbulb_0ba46093caff4ef7b415279e4a28e3cc_1_0_2 completed with success=False +[05/27 12:40:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6995: 1 episodes +[05/27 12:40:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:40:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:40:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6995 +[05/27 12:40:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6995 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 12:40:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6995 +[05/27 12:40:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6995: 0/1 successful episodes +[05/27 12:40:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7065 (index 77/113) +[05/27 12:40:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7065 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:40:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 12:40:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene +Goal: place dark nhl pencilcase next to vibrant floral mug with handle +[2026-05-27 12:41:52,170] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:42:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:51:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 7065 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_6 completed with success=False +[05/27 12:51:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7065: 1 episodes +[05/27 12:51:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:51:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:51:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7065 +[05/27 12:51:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7065 in 2.54s (batch: 2.45s, save: 0.09s) +[05/27 12:51:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7065 +[05/27 12:51:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7065: 0/1 successful episodes +[05/27 12:51:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7148 (index 78/113) +[05/27 12:51:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:51:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place white candle with number four next to pink grooved candle on green holder +[2026-05-27 12:52:50,722] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:06:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 7148 episode 0 object objadecorativecandle_f6df1e32257f437d896fc6c406d04914_1_0_5 completed with success=False +[05/27 13:06:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7148: 1 episodes +[05/27 13:06:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:06:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:06:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7148 +[05/27 13:06:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7148 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 13:06:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7148 +[05/27 13:06:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7148: 0/1 successful episodes +[05/27 13:06:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7230 (index 79/113) +[05/27 13:06:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7230 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:06:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place blue retro-style cassette player next to blue square ceramic plate +[2026-05-27 13:07:31,673] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:08:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:13:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7230 episode 0 object objacassetteplayer_14daacbaf0f94f458851e15dfd717426_2_0_3 completed with success=False +[05/27 13:13:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7230: 1 episodes +[05/27 13:13:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:13:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:13:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7230 +[05/27 13:13:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7230 in 2.60s (batch: 2.52s, save: 0.09s) +[05/27 13:13:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7230 +[05/27 13:13:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7230: 0/1 successful episodes +[05/27 13:13:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7333 (index 80/113) +[05/27 13:13:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7333 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:13:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place white smart speaker with fabric next to heavily rusted brake caliper pistons +[2026-05-27 13:14:30,072] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:26:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 7333 episode 0 object objasmartspeaker_5388f20d16064e1fae2741e1c26c9fa3_1_0_9 completed with success=False +[05/27 13:26:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7333: 1 episodes +[05/27 13:26:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:26:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:26:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7333 +[05/27 13:26:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7333 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 13:26:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7333 +[05/27 13:26:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7333: 0/1 successful episodes +[05/27 13:26:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7347 (index 81/113) +[05/27 13:26:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 7347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:26:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 13:26:42 Worker 0 WARNING object_manager.py:1238] Could not find object objasignage_bb52b9455ae4459e94b6d3bf9d3fb510_1_0_6 in scene +[05/27 13:26:42 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene +Goal: place butt hinge next to black white striped decorative award +[2026-05-27 13:27:46,687] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:28:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:35:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 7347 episode 0 object objaconcealedhinge_dc23e9723bdc42fa8f79ff643bcc68e3_1_0_6 completed with success=False +[05/27 13:35:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 13:35:53 Worker 0 WARNING object_manager.py:1238] Could not find object objasignage_bb52b9455ae4459e94b6d3bf9d3fb510_1_0_6 in scene +[05/27 13:35:53 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene +Goal: place blue wavy porous cleaning sponge next to cup +[2026-05-27 13:36:57,765] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:37:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:44:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7347 episode 1 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_6 completed with success=False +[05/27 13:44:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7347: 2 episodes +[05/27 13:44:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:44:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:44:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:44:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:44:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7347 +[05/27 13:44:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7347 in 5.10s (batch: 4.93s, save: 0.17s) +[05/27 13:44:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7347 +[05/27 13:44:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7347: 0/2 successful episodes +[05/27 13:44:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7363 (index 82/113) +[05/27 13:44:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7363 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:44:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place antique hand mirror with floral next to turquoise toy vehicle with red wheels +[2026-05-27 13:45:55,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:46:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:51:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7363 episode 0 object objahandmirror_356c4b59d2b14b5a841475d01d4e82aa_2_0_2 completed with success=False +[05/27 13:51:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7363: 1 episodes +[05/27 13:51:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:51:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:51:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7363 +[05/27 13:51:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7363 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 13:51:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7363 +[05/27 13:51:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7363: 0/1 successful episodes +[05/27 13:51:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7440 (index 83/113) +[05/27 13:51:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7440 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:51:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 13:51:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene +Goal: place spherical polished brown wooden yo-yo next to open brown cardboard box for packaging +[2026-05-27 13:52:47,707] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:09:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 7440 episode 0 object objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_7 completed with success=False +[05/27 14:09:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7440: 1 episodes +[05/27 14:09:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:09:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7440 +[05/27 14:09:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7440 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 14:09:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7440 +[05/27 14:09:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7440: 0/1 successful episodes +[05/27 14:09:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7504 (index 84/113) +[05/27 14:09:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:09:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place black espresso pot next to sleek dark portable laptop with keyboard +[2026-05-27 14:10:38,828] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:11:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:23:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 7504 episode 0 object objamokapot_e359184cea054cb09b5c603845cb0231_1_0_4 completed with success=False +[05/27 14:23:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7504: 1 episodes +[05/27 14:23:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:23:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:23:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7504 +[05/27 14:23:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7504 in 2.54s (batch: 2.45s, save: 0.10s) +[05/27 14:23:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7504 +[05/27 14:23:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7504: 0/1 successful episodes +[05/27 14:23:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7625 (index 85/113) +[05/27 14:23:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:23:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place means next to gold pump bottle +[2026-05-27 14:25:00,495] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:25:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:34:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 7625 episode 0 object objatray_b4351af051964283968b5fed441ee844_1_0_6 completed with success=False +[05/27 14:34:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7625: 1 episodes +[05/27 14:34:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:34:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:34:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7625 +[05/27 14:34:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7625 in 2.57s (batch: 2.47s, save: 0.09s) +[05/27 14:34:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7625 +[05/27 14:34:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7625: 0/1 successful episodes +[05/27 14:34:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7740 (index 86/113) +[05/27 14:34:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7740 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:34:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 14:35:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene +[05/27 14:35:00 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene +Goal: place orange and green cube next to gray elongated stone +[2026-05-27 14:36:05,675] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:36:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:50:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7740 episode 0 object objapuzzletoy_3b74eeb531ca4f49a0274e2887526aee_1_0_8 completed with success=False +[05/27 14:50:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7740: 1 episodes +[05/27 14:50:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:50:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:50:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7740 +[05/27 14:50:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7740 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 14:50:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7740 +[05/27 14:50:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7740: 0/1 successful episodes +[05/27 14:50:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7841 (index 87/113) +[05/27 14:50:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7841 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:50:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place silver bullet with red band tip next to rectangular dark gray tufted pillow +[2026-05-27 14:51:24,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:52:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:56:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 7841 episode 0 object objadecorativereplica_7da5f4dde5ae41a1b634f54bb3133b3d_1_0_2 completed with success=False +[05/27 14:56:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7841: 1 episodes +[05/27 14:56:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:56:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:56:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7841 +[05/27 14:56:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7841 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 14:56:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7841 +[05/27 14:56:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7841: 0/1 successful episodes +[05/27 14:56:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7923 (index 88/113) +[05/27 14:56:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:56:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place brown clay dish with handle next to fresh green lettuce with stem +[2026-05-27 14:58:20,735] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:07:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 7923 episode 0 object objaclaydish_74d08c7da86943e19fe4667bf039bf03_1_0_6 completed with success=False +[05/27 15:07:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7923: 1 episodes +[05/27 15:07:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:07:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:07:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7923 +[05/27 15:07:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7923 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 15:07:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7923 +[05/27 15:07:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7923: 0/1 successful episodes +[05/27 15:07:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7997 (index 89/113) +[05/27 15:07:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7997 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:07:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place brown potato next to bronze female statue +[2026-05-27 15:08:55,674] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:09:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:23:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 7997 episode 0 object Irishpotato_121f03310f70f545adbe1151e4ea4b7f_1_0_6 completed with success=False +[05/27 15:23:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7997: 1 episodes +[05/27 15:23:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:23:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:23:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7997 +[05/27 15:23:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7997 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 15:23:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7997 +[05/27 15:23:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7997: 0/1 successful episodes +[05/27 15:23:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8098 (index 90/113) +[05/27 15:23:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8098 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:23:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 15:23:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_6 in scene +Goal: place card with pink bow next to red mechanical glove with blades +[2026-05-27 15:24:27,857] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:25:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:34:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8098 episode 0 object objadecorativecard_65c3c59dcda94798b4f95a1817325f33_1_0_7 completed with success=False +[05/27 15:34:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8098: 1 episodes +[05/27 15:34:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:34:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:34:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8098 +[05/27 15:34:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8098 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 15:34:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8098 +[05/27 15:34:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8098: 0/1 successful episodes +[05/27 15:34:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8183 (index 91/113) +[05/27 15:34:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8183 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:34:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place gray cooking pot next to brown bread +[2026-05-27 15:35:21,386] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:35:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 8183 episode 0 object pot_b37a4855fab8cf0217449f68b5c47ef4_1_0_2 completed with success=False +[05/27 15:43:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8183: 1 episodes +[05/27 15:43:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:43:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:43:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8183 +[05/27 15:43:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8183 in 2.53s (batch: 2.44s, save: 0.09s) +[05/27 15:43:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8183 +[05/27 15:43:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8183: 0/1 successful episodes +[05/27 15:43:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8247 (index 92/113) +[05/27 15:43:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:43:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 15:43:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_5 in scene +[05/27 15:43:57 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +Goal: place gnome with red hat next to glossy blue vase +[2026-05-27 15:45:02,109] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:04:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 8247 episode 0 object objagardengnome_581405b5a63b40aba342e1356700e464_1_0_2 completed with success=False +[05/27 16:04:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8247: 1 episodes +[05/27 16:04:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:04:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:04:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8247 +[05/27 16:04:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8247 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 16:04:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8247 +[05/27 16:04:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8247: 0/1 successful episodes +[05/27 16:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8326 (index 93/113) +[05/27 16:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8326 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +Goal: place wooden house keyholder next to black patterned orb +[2026-05-27 16:06:06,989] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:23:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 8326 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_4 completed with success=False +[05/27 16:23:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8326: 1 episodes +[05/27 16:23:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:23:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:23:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8326 +[05/27 16:23:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8326 in 2.55s (batch: 2.46s, save: 0.09s) +[05/27 16:24:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8326 +[05/27 16:24:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8326: 0/1 successful episodes +[05/27 16:24:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8402 (index 94/113) +[05/27 16:24:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8402 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:24:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 16:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeartifact_b1b4c89f78cf4dbda524100885eab273_1_0_5 in scene +[05/27 16:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place white rectangular switch plate next to small beige clay tablet with engravings +[2026-05-27 16:25:19,150] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:25:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:40:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 8402 episode 0 object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_7 completed with success=False +[05/27 16:40:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8402: 1 episodes +[05/27 16:40:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:40:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:40:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8402 +[05/27 16:40:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8402 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 16:40:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8402 +[05/27 16:40:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8402: 0/1 successful episodes +[05/27 16:40:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8481 (index 95/113) +[05/27 16:40:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:40:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 16:40:49 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 16:40:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place tall golden spike with base next to squirt gun +[2026-05-27 16:41:55,268] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:55:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 8481 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6 completed with success=False +[05/27 16:55:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8481: 1 episodes +[05/27 16:55:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:55:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8481 +[05/27 16:55:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8481 in 2.62s (batch: 2.54s, save: 0.09s) +[05/27 16:55:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8481 +[05/27 16:55:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8481: 0/1 successful episodes +[05/27 16:55:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8562 (index 96/113) +[05/27 16:55:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8562 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:55:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place round white garlic bulb with ridges next to medium ripe red tomato with stem +[2026-05-27 16:57:16,302] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:57:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:07:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 8562 episode 0 object objagarlic_c7db153e97a94acdbd45824ca668497a_1_0_6 completed with success=False +[05/27 17:07:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8562: 1 episodes +[05/27 17:07:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:07:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:07:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8562 +[05/27 17:07:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8562 in 2.53s (batch: 2.44s, save: 0.09s) +[05/27 17:07:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8562 +[05/27 17:07:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8562: 0/1 successful episodes +[05/27 17:07:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8689 (index 97/113) +[05/27 17:07:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8689 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:07:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 17:07:46 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene +[05/27 17:07:46 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 in scene +Goal: place white paint roller next to olive scalloped ceramic plate +[2026-05-27 17:08:48,443] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:09:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:27:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 8689 episode 0 object objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_2 completed with success=False +[05/27 17:27:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8689: 1 episodes +[05/27 17:27:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:27:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:27:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8689 +[05/27 17:27:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8689 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 17:27:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8689 +[05/27 17:27:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8689: 0/1 successful episodes +[05/27 17:27:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8767 (index 98/113) +[05/27 17:27:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:27:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 17:27:35 Worker 0 WARNING object_manager.py:1238] Could not find object statue_904dcacd60264237fc6f100aa873b50d_1_0_9 in scene +Goal: place rusty metal megaphone with handle next to rusty can +[2026-05-27 17:28:40,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:29:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:43:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 8767 episode 0 object objamegaphone_65c06bc119a6426ea49dc2844e6a0044_1_0_6 completed with success=False +[05/27 17:43:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8767: 1 episodes +[05/27 17:43:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:43:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:43:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8767 +[05/27 17:43:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8767 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 17:43:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8767 +[05/27 17:43:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8767: 0/1 successful episodes +[05/27 17:43:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8857 (index 99/113) +[05/27 17:43:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:43:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/27 17:43:44 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +Goal: place black visor cap with colorful letters next to bear trap +[2026-05-27 17:44:48,161] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:47:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 8857 episode 0 object objavisorcap_aeb789836f494b2a9ca94b97d0fef8dc_1_0_6 completed with success=False +[05/27 17:47:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8857: 1 episodes +[05/27 17:47:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:47:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:47:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8857 +[05/27 17:47:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8857 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 17:47:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8857 +[05/27 17:47:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8857: 0/1 successful episodes +[05/27 17:47:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8922 (index 100/113) +[05/27 17:47:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8922 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:47:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 17:47:34 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/27 17:47:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_5a83321dfc4d4f60be6cb300826a248b_1_0_5 in scene +Goal: place gray sports shoe with black swoosh next to small beige clay tablet with engravings +[2026-05-27 17:48:37,894] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:49:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:00:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 8922 episode 0 object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_2_0_5 completed with success=False +[05/27 18:00:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8922: 1 episodes +[05/27 18:00:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:00:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:00:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8922 +[05/27 18:00:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8922 in 2.51s (batch: 2.43s, save: 0.09s) +[05/27 18:00:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8922 +[05/27 18:00:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8922: 0/1 successful episodes +[05/27 18:00:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8993 (index 101/113) +[05/27 18:00:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:00:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place pale bone with small triangular teeth next to green bronze mask with cutouts +[2026-05-27 18:01:37,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:07:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 8993 episode 0 object objabone_8c1d6040fd2f490981bf87dd4bcb636c_1_0_2 completed with success=False +[05/27 18:07:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8993: 1 episodes +[05/27 18:07:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:07:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:07:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8993 +[05/27 18:07:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8993 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 18:07:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8993 +[05/27 18:07:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8993: 0/1 successful episodes +[05/27 18:07:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9054 (index 102/113) +[05/27 18:07:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9054 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:07:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place metal spring next to green insect head +[2026-05-27 18:08:41,434] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:09:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:24:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 9054 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_6 completed with success=False +[05/27 18:24:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9054: 1 episodes +[05/27 18:24:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:24:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:24:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9054 +[05/27 18:24:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9054 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 18:24:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9054 +[05/27 18:24:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9054: 0/1 successful episodes +[05/27 18:24:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9112 (index 103/113) +[05/27 18:24:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9112 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:24:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 18:24:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 18:24:33 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_221bd4f07cb4337aa672d00523ed9982_1_0_6 in scene +[05/27 18:24:33 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_6 in scene +Goal: place pink orchid branch next to spray bottle +[2026-05-27 18:25:37,681] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:40:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 9112 episode 0 object objaflower_bb02fbe0066d40a2a5429a02735c0ef6_1_0_9 completed with success=False +[05/27 18:40:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9112: 1 episodes +[05/27 18:40:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:40:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:40:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9112 +[05/27 18:40:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9112 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 18:40:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9112 +[05/27 18:40:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9112: 0/1 successful episodes +[05/27 18:40:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9173 (index 104/113) +[05/27 18:40:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9173 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:40:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 18:40:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_3 in scene +[05/27 18:40:19 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 in scene +Goal: place measuring device next to small beige clay tablet with engravings +[2026-05-27 18:41:24,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:41:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:53:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 9173 episode 0 object objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_3 completed with success=False +[05/27 18:53:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9173: 1 episodes +[05/27 18:53:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:53:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:53:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9173 +[05/27 18:53:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9173 in 2.77s (batch: 2.67s, save: 0.10s) +[05/27 18:53:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9173 +[05/27 18:53:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9173: 0/1 successful episodes +[05/27 18:53:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9279 (index 105/113) +[05/27 18:53:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9279 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:53:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place motion-picture camera next to sleek dark portable laptop with keyboard +[2026-05-27 18:54:54,499] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:55:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:04:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 9279 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2 completed with success=False +[05/27 19:04:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9279: 1 episodes +[05/27 19:04:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:04:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:04:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9279 +[05/27 19:04:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9279 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 19:04:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9279 +[05/27 19:04:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9279: 0/1 successful episodes +[05/27 19:04:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9343 (index 106/113) +[05/27 19:04:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9343 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place conical purple sweet potato with texture next to large deep red ripe tomato +[2026-05-27 19:06:02,820] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:17:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 9343 episode 0 object objavegetable_3ea7a361c376454aa22ce6c30e905e13_1_0_8 completed with success=False +[05/27 19:17:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9343: 1 episodes +[05/27 19:17:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:17:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:17:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9343 +[05/27 19:17:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9343 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 19:17:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9343 +[05/27 19:17:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9343: 0/1 successful episodes +[05/27 19:17:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9476 (index 107/113) +[05/27 19:17:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9476 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:17:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place white candle holder next to green military helicopter +[2026-05-27 19:19:03,308] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:19:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:26:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9476 episode 0 object objacandlestickholder_7961a71d5af04bcea18476847c200c00_1_0_3 completed with success=False +[05/27 19:26:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9476: 1 episodes +[05/27 19:26:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:26:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:26:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9476 +[05/27 19:26:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9476 in 2.66s (batch: 2.56s, save: 0.10s) +[05/27 19:26:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9476 +[05/27 19:26:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9476: 0/1 successful episodes +[05/27 19:26:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9522 (index 108/113) +[05/27 19:26:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9522 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:26:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place triangular pale stone next to pineapple with crown +[2026-05-27 19:28:01,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:28:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:40:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 9522 episode 0 object objastonetoolreplica_a5eac68b8d9145d4a4674a3437c700ce_1_0_6 completed with success=False +[05/27 19:40:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9522: 1 episodes +[05/27 19:40:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:40:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:40:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9522 +[05/27 19:40:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9522 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 19:40:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9522 +[05/27 19:40:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9522: 0/1 successful episodes +[05/27 19:40:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9603 (index 109/113) +[05/27 19:40:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9603 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:40:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place circular disc with colorful front design next to detailed model of horse skull +[2026-05-27 19:41:47,711] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:59:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9603 episode 0 object objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_7 completed with success=False +[05/27 19:59:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9603: 1 episodes +[05/27 19:59:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:59:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:59:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9603 +[05/27 19:59:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9603 in 2.58s (batch: 2.49s, save: 0.10s) +[05/27 19:59:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9603 +[05/27 19:59:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9603: 0/1 successful episodes +[05/27 19:59:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9662 (index 110/113) +[05/27 19:59:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:59:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place black spray can next to green mossy strip with jagged edges +[2026-05-27 20:00:42,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:01:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:07:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9662 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2 completed with success=False +[05/27 20:07:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9662: 1 episodes +[05/27 20:07:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:07:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:07:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9662 +[05/27 20:07:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9662 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 20:07:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9662 +[05/27 20:07:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9662: 0/1 successful episodes +[05/27 20:07:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9764 (index 111/113) +[05/27 20:07:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 20:07:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place green armored character card with text next to white and gray modern smart speaker +[2026-05-27 20:08:41,257] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:15:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 9764 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_3 completed with success=False +[05/27 20:15:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9764: 1 episodes +[05/27 20:15:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:15:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:15:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9764 +[05/27 20:15:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9764 in 2.52s (batch: 2.42s, save: 0.09s) +[05/27 20:15:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9764 +[05/27 20:15:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9764: 0/1 successful episodes +[05/27 20:15:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9915 (index 112/113) +[05/27 20:15:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 20:15:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place rectangular green tissue box with tissues next to pink cellphone +[2026-05-27 20:17:30,344] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:18:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:22:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 9915 episode 0 object objatissuebox_2bd98e8ea09f49bd85453a927011d31d_2_0_2 completed with success=False +[05/27 20:22:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9915: 1 episodes +[05/27 20:22:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:22:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:22:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9915 +[05/27 20:22:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9915 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 20:22:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9915 +[05/27 20:22:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9915: 0/1 successful episodes +[05/27 20:22:41 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 20:22:41 INFO pipeline.py:1496] Completed 113 houses, skipped 0 houses +[05/27 20:22:41 INFO pipeline.py:1499] Success count: 2, Total count: 117 +[05/27 20:22:41 INFO pipeline.py:1500] Success rate: 1.71% +Combined 117 episodes from 113 files → /tmp/tmpe9_ac7oe.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv at-end: 1.71% | oracle: 1.71% of 117 episodes +[2026-05-27 20:22:55,435] INFO MolmoSpaces simulator eval finished: success=2/117 rate=0.0171 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval +[2026-05-27 20:22:55,435] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..26feabdccad0e87a1bd835938e748993d15ed65e --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f432543669af04edceaa3fa3e7c4c5e096457428 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/episode_results.jsonl @@ -0,0 +1,117 @@ +{"house_id": "house_1015", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate vintage brass bell and place it next to the white quilted pillow", "object_name": "objadecorativebell_0e38f4e9fecb4dd49f7e4aa00fcc121d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1015/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1113", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round stone weight with metal ring and place it next to the green plastic spray bottle", "object_name": "objaweight_fceabaa7a09d4072b6befd0625cb4031_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1113/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green gemstone and place it next to the red spaceship", "object_name": "objagemstone_f465cd539c064a27ad4f7e57c84afb7c_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1140", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the greek kylix and place it next to the small green house plant in pot", "object_name": "objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1208", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate bronze bell with engravings and place it next to the soft white pillow with quilting", "object_name": "objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1208/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1280", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy teal ceramic cat with patterns and place it next to the blue mushroom", "object_name": "objaceramiccat_eda025dda9404765b762d841da229c33_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1280/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1351", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 263, "task_description": "Pick up the ceramic jug and place it next to the tall dark cup with ridges base", "object_name": "objaceramicjug_4ce0f5ece3c7422c9ec23470cc38b088_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1351/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1426", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the push-button radio and place it next to the colored hardcover sketchbook", "object_name": "objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1426/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1572", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compass and place it next to the brown cardboard box", "object_name": "objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1572/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1695", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the breadstuff and place it next to the bulbous shiny gold metallic vase", "object_name": "objapastry_02f82d69871941859c7cd594bb3fc0b4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1695/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1749", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden gavel with decorative cord and place it next to the ancient fossilized skull", "object_name": "objagavel_8bdbe3dbca7b49b488026595937f5009_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1749/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1828", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the mounting bracket and place it next to the shallow white square bowl", "object_name": "objamountingbracket_61d93824512b4446be5195ab592ae138_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1828/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1930", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red apple and place it next to the red rectangular lucky charms box", "object_name": "apple_3076d24521ee5e895156b37b1b9fb130_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1930/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2032", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red lighthouse with framework and place it next to the purple spray bottle with nozzle", "object_name": "objalighthouse_38f4ca24b0e94683b7becccda1b8f9ca_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2032/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2109", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wood chisel and place it next to the bronze female statue", "object_name": "objachisel_6938a8ad91724ed29b96ef4b7beb5f23_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2109/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2232", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small brown shrew figure and place it next to the armour plate", "object_name": "objaanimalsculpture_1dc0a7826fdd4279b8041fab6c370d07_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2232/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2342", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown spotted ceramic animal vessel and place it next to the spray bottle", "object_name": "objaceramicvessel_c292b6f0b87b4272ba67504efdda2958_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2342/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2458", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pagoda pop-up card and place it next to the red spiky spherical virus model", "object_name": "objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2458/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2498", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige spatula and place it next to the smooth beige egg", "object_name": "objaspatula_8208e17164a04672bfabc6152ff43e71_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2498/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2634", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paper cup with starbucks logo and place it next to the bulbous shiny gold vase", "object_name": "objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2634/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown wooden gavel and place it next to the soap bottle", "object_name": "objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2767/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2843", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small beige clay tablet with engravings and place it next to the gray sports shoe with black swoosh", "object_name": "objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2843/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2922", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gnome with red hat and place it next to the translucent ergonomic spray bottle", "object_name": "objagardengnome_a6cecca0308e43878a034c5f45b098a9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2922/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3043", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dotted sign wall decoration and place it next to the ripe red tomato", "object_name": "objasignage_29124066089941bbb3fa3517a686019c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3043/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3148", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful geometric molecular model and place it next to the white toy cannon with yellow spirals", "object_name": "objaeducationaltoy_6b36a0d3ca22472280b1d9c57dfd88b6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3148/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3239", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth plastic realistic hand model and place it next to the thick hardcover blue book", "object_name": "objahandmodel_ed06e3aa4fea4cd9b37746b2101d4ca5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3239/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3283", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bright yellow crown with text \"barbearia king and place it next to the medium smooth yellow apple with stem", "object_name": "objacrown_5847bde4308c4d9da7345bff00cb4d55_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3283/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3368", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light rectangular amulet with figure and place it next to the gold vase", "object_name": "objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3368/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3416", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wavy strip with gradient and place it next to the smooth green rectangular pillow cushion", "object_name": "objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3416/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3514", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green plastic package and place it next to the tall vase with scalloped rim", "object_name": "objasnackpackage_4b807308e65c4ecd85b8bb1cd5d8da4a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3514/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3588", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wooden tool and place it next to the polished smooth rounded blue bowl", "object_name": "objawoodentool_6727d5933a6f4097a678f6ee8b3d1de0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3588/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3718", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the geologicalspecimen and place it next to the pencil", "object_name": "objageologicalspecimen_226e782eecfb47018de9a781a77276d0_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3718/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3759", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the denture and place it next to the red lighthouse with framework", "object_name": "objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3759/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3900", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige ceramic lid with central knob and place it next to the translucent ergonomic spray bottle", "object_name": "objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3900/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green nameplate and place it next to the glossy wooden tapered cup", "object_name": "objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3991/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3991", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue puzzle piece with rainbow clouds and place it next to the modern black faucet with spray", "object_name": "objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3991/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4028", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lifelike yellow striped wasp model and place it next to the weathered stone disc", "object_name": "objainsect_f384c01929c74ff49375cb5f79f03466_1_0_7", "data_file_path": 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fresh pineapple with spiky green leaves and place it next to the fresh elongated green romaine lettuce", "object_name": "objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4198/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4266", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage black camera and place it next to the bulbous shiny gold metallic vase", "object_name": "objacamera_f49a08efb8a544efb98d4d806b0d1c27_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4266/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4306", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown leather high-top boot and place it next to the brown cardboard box open", "object_name": "objaboot_83072c9d2cf54194a165897bc77196c1_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4306/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4385", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the garden hose nozzle and place it next to the apple", "object_name": "objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4385/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4476", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red keychain and place it next to the smooth yellow egg with black zigzag", "object_name": "objakeychainholder_073e7cc7e9cf4968afc05d50528c7f9b_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4476/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4577", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ginger root and place it next to the blue spray bottle", "object_name": "objagingerroot_e8e250f94c6a4c51b71f15e1a3b36e25_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4577/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4654", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden metallic laurel wreath headpiece and place it next to the vintage metal tag", "object_name": "objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4654/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4692", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green armored character card with text and place it next to the conical soap bottle with pump", "object_name": "objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4692/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4766", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white egg and place it next to the tall dark cup with ridges base", "object_name": "egg_768abcb7b01b3935a0261a8d2ef92b12_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4766/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4863", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark blue wedge and place it next to the wooden bookmark with butterfly", "object_name": "objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4863/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4929", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic stone cup with hole and place it next to the vibrant abstract sculpture with colorful ribbons", "object_name": "objastonecup_5ef91e0bfe7b44da9f1d2944386cce85_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4929/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5015", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red plastic cup with white interior and place it next to the pink daisy blooming in pot", "object_name": "objaplasticcup_84d301b896084a2f94f2835dd4ba2d94_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5015/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5130", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cylindrical dark nhl pencilcase and place it next to the soapdispenser", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5130/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5148", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bronze buckle with cowboy and place it next to the golden brown artisanal loaf of bread", "object_name": "objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5148/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5148", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the modern white tape dispenser and place it next to the black radiator with looping copper tubes", "object_name": "objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5148/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5186", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cross-shaped metallic connector with holes and place it next to the spherical colorful puzzle ball with patterns", "object_name": "objaconnector_72e520e59a5242198535fedad37a00f1_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5186/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5288", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blowtorch and place it next to the realistic pink brain model", "object_name": "objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5288/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5445", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden mug with handle and place it next to the aerosol container", "object_name": "objamug_8529afb010814c188970381c3596afef_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5445/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5523", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty metal rod and place it next to the realistic beige saber-toothed cat skull", "object_name": "objametalrod_18484b0d1a274d62abde66a9047600ca_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5523/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5596", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stone fish decor and place it next to the textured octagonal translucent soap bottle", "object_name": "objadecorativefish_5a1f0f032b2a4774887620ca540318c4_1_0_6", "data_file_path": 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449, "task_description": "Pick up the colorful geometric molecular model and place it next to the muscleman hanging on yellow rings", "object_name": "objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5755/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5867", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy black sign with pink and place it next to the glossy black sign with pink", "object_name": "objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_3", "data_file_path": 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"task_description": "Pick up the blocky toy soldier wearing red uniform and place it next to the black classic bar-style mobile phone", "object_name": "objatoysoldier_e408c968b0f44a9d92ac92ad390b608a_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6011/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6100", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue star-shaped mold with patterns and place it next to the tall dark cup with ridges base", "object_name": "objamold_225720a070c046dba53c77e9a0a7716f_1_0_6", "data_file_path": 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up the worn brown work glove with cuff and place it next to the dark gray rounded cast iron pot", "object_name": "objaglove_437e50e2a7b441ba87d54392c39c0baf_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6250/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6293", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue metallic disc and place it next to the bulbous shiny gold vase", "object_name": "objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_3", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the sharp scissors with blue handles and place it next to the tall dark cup with ridges", "object_name": "objascissors_c67efef1abeb41969eef84c06311fac6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6430/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6533", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gamingmouse and place it next to the faded blue vintage car", "object_name": "objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6", "data_file_path": 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"Pick up the brown stick and place it next to the brown bread", "object_name": "objastick_973e872f05da428b9594feb65ec42e10_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6672/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6755", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive stone hammer with wooden handle and place it next to the metallic brushed stainless steel toaster", "object_name": "objastonehammer_5222cf9dedae4a31882281f6d7bada89_1_0_8", "data_file_path": 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"Pick up the replica bone and place it next to the pagoda with dragon and chains", "object_name": "objareplicabone_d016a23297944f2db6a6f92625f39bf0_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6934/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6995", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large bulbous garlic with dried stem and place it next to the dark gray plate with ridges", "object_name": "objagarlicbulb_0ba46093caff4ef7b415279e4a28e3cc_1_0_2", "data_file_path": 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"Pick up the white candle with number four and place it next to the pink grooved candle on green holder", "object_name": "objadecorativecandle_f6df1e32257f437d896fc6c406d04914_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7148/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_720", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cellphone and place it next to the bronze full-figured statue", "object_name": "objamobilephone_89cc4e542641469586dcd9274fc7fc61_1_0_9", "data_file_path": 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"task_description": "Pick up the white smart speaker with fabric and place it next to the heavily rusted brake caliper pistons", "object_name": "objasmartspeaker_5388f20d16064e1fae2741e1c26c9fa3_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7333/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7347", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butt hinge and place it next to the black white striped decorative award", "object_name": "objaconcealedhinge_dc23e9723bdc42fa8f79ff643bcc68e3_1_0_6", "data_file_path": 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the antique hand mirror with floral and place it next to the turquoise toy vehicle with red wheels", "object_name": "objahandmirror_356c4b59d2b14b5a841475d01d4e82aa_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7363/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7440", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spherical polished brown wooden yo-yo and place it next to the open brown cardboard box for packaging", "object_name": "objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_7", "data_file_path": 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"task_description": "Pick up the means and place it next to the gold pump bottle", "object_name": "objatray_b4351af051964283968b5fed441ee844_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7625/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_763", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall golden spike with base and place it next to the thick blue hardcover programming book", "object_name": "objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_2", "data_file_path": 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the silver bullet with red band tip and place it next to the rectangular dark gray tufted pillow", "object_name": "objadecorativereplica_7da5f4dde5ae41a1b634f54bb3133b3d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7841/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7923", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown clay dish with handle and place it next to the fresh green lettuce with stem", "object_name": "objaclaydish_74d08c7da86943e19fe4667bf039bf03_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7923/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7997", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown potato and place it next to the bronze female statue", "object_name": "Irishpotato_121f03310f70f545adbe1151e4ea4b7f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7997/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8098", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the card with pink bow and place it next to the red mechanical glove with blades", "object_name": "objadecorativecard_65c3c59dcda94798b4f95a1817325f33_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8098/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8183", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray cooking pot and place it next to the brown bread", "object_name": "pot_b37a4855fab8cf0217449f68b5c47ef4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8183/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8247", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gnome with red hat and place it next to the glossy blue vase", "object_name": "objagardengnome_581405b5a63b40aba342e1356700e464_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8247/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_827", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spherical bomb with fuse and place it next to the green spherical topiary", "object_name": "objabomb_dde8319900f34ee78b0cb7674d99d689_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_827/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8326", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden house keyholder and place it next to the black patterned orb", "object_name": "objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8326/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8402", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular switch plate and place it next to the small beige clay tablet with engravings", "object_name": "objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8402/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8481", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall golden spike with base and place it next to the squirt gun", "object_name": "objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8481/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8562", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round white garlic bulb with ridges and place it next to the medium ripe red tomato with stem", "object_name": "objagarlic_c7db153e97a94acdbd45824ca668497a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8562/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8689", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paint roller and place it next to the olive scalloped ceramic plate", "object_name": "objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8689/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty metal megaphone with handle and place it next to the rusty can", "object_name": "objamegaphone_65c06bc119a6426ea49dc2844e6a0044_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8767/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8857", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black visor cap with colorful letters and place it next to the bear trap", "object_name": "objavisorcap_aeb789836f494b2a9ca94b97d0fef8dc_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8857/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8922", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray sports shoe with black swoosh and place it next to the small beige clay tablet with engravings", "object_name": "objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_2_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8922/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8993", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pale bone with small triangular teeth and place it next to the green bronze mask with cutouts", "object_name": "objabone_8c1d6040fd2f490981bf87dd4bcb636c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8993/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_902", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown rusty cylindrical vintage oilcan and place it next to the large stainless steel pot", "object_name": "objaoilcan_933032bd54804ebc9b8cfd1c6a46a15e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_902/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9054", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal spring and place it next to the green insect head", "object_name": "objaspring_310f124af29745708b5393d7197d6fd5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9054/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9112", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink orchid branch and place it next to the spray bottle", "object_name": "objaflower_bb02fbe0066d40a2a5429a02735c0ef6_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9112/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9173", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the measuring device and place it next to the small beige clay tablet with engravings", "object_name": "objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9173/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9279", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the motion-picture camera and place it next to the sleek dark portable laptop with keyboard", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9279/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9343", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the conical purple sweet potato with texture and place it next to the large deep red ripe tomato", "object_name": "objavegetable_3ea7a361c376454aa22ce6c30e905e13_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9343/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9476", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white candle holder and place it next to the green military helicopter", "object_name": "objacandlestickholder_7961a71d5af04bcea18476847c200c00_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9476/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9522", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular pale stone and place it next to the pineapple with crown", "object_name": "objastonetoolreplica_a5eac68b8d9145d4a4674a3437c700ce_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9522/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9603", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular disc with colorful front design and place it next to the detailed model of horse skull", "object_name": "objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9603/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9662", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spray can and place it next to the green mossy strip with jagged edges", "object_name": "objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9662/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9764", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green armored character card with text and place it next to the white and gray modern smart speaker", "object_name": "objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9764/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9915", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular green tissue box with tissues and place it next to the pink cellphone", "object_name": "objatissuebox_2bd98e8ea09f49bd85453a927011d31d_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9915/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..5425a329ed522d25b134ac716f6ca2e2211e6d8f --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/eval.log @@ -0,0 +1,3664 @@ +[2026-05-26 19:43:51,224] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,226] INFO Using MuJoCo EGL device id: 3 +[2026-05-26 19:43:51,226] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,256] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 (source=arg) +[2026-05-26 19:43:53,231] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:04,147] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,280] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,752] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:15 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:15,796] INFO JsonEvalRunner initialized: 113 houses, 117 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 19:48:15 INFO pipeline.py:1279] Starting house-by-house rollout of 113 houses with 2 episodes each (226 total episodes) using 1 worker processes +[05/26 19:48:15 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:15 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [656, + 720, + 763, + 827, + 902, + 1015, + 1113, + 1140, + 1208, + 1280, + 1351, + 1426, + 1572, + 1695, + 1749, + 1828, + 1930, + 2032, + 2109, + 2232, + 2342, + 2458, + 2498, + 2634, + 2767, + 2843, + 2922, + 3043, + 3148, + 3239, + 3283, + 3368, + 3416, + 3514, + 3588, + 3718, + 3759, + 3900, + 3991, + 4028, + 4115, + 4198, + 4266, + 4306, + 4385, + 4476, + 4577, + 4654, + 4692, + 4766, + 4863, + 4929, + 5015, + 5130, + 5148, + 5186, + 5288, + 5445, + 5523, + 5596, + 5652, + 5755, + 5867, + 5914, + 6011, + 6100, + 6170, + 6250, + 6293, + 6378, + 6430, + 6533, + 6672, + 6755, + 6858, + 6934, + 6995, + 7065, + 7148, + 7230, + 7333, + 7347, + 7363, + 7440, + 7504, + 7625, + 7740, + 7841, + 7923, + 7997, + 8098, + 8183, + 8247, + 8326, + 8402, + 8481, + 8562, + 8689, + 8767, + 8857, + 8922, + 8993, + 9054, + 9112, + 9173, + 9279, + 9343, + 9476, + 9522, + 9603, + 9662, + 9764, + 9915], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:15,801] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:15 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:15 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 656 (index 0/113) +[05/26 19:48:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 19:48:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 19:48:33 Worker 0 WARNING object_manager.py:1238] Could not find object objacanvas_3ab20a02d16a492e82f8b7691cf8dd22_1_0_2 in scene +Goal: place dark nhl pencilcase next to simple light brown ceramic bowl +2026-05-26 19:48:34.038 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:35,001] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:36,909] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:37,539] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:37,789] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:37,793] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 19:58:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 656 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4 completed with success=False +[05/26 19:59:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_656: 1 episodes +[05/26 19:59:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:59:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:59:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_656 +[05/26 19:59:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_656 in 2.49s (batch: 2.40s, save: 0.09s) +[05/26 19:59:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_656 +[05/26 19:59:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 656: 0/1 successful episodes +[05/26 19:59:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 720 (index 1/113) +[05/26 19:59:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 720 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 19:59:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place cellphone next to bronze full-figured statue +[2026-05-26 20:00:22,907] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:00:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:14:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 720 episode 0 object objamobilephone_89cc4e542641469586dcd9274fc7fc61_1_0_9 completed with success=False +[05/26 20:14:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_720: 1 episodes +[05/26 20:14:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:14:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:14:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_720 +[05/26 20:14:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_720 in 2.67s (batch: 2.59s, save: 0.09s) +[05/26 20:14:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_720 +[05/26 20:14:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 720: 0/1 successful episodes +[05/26 20:14:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 763 (index 2/113) +[05/26 20:14:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:14:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/5 [00:00 does not support tracking retries. +Goal: place tall golden spike with base next to thick blue hardcover programming book +[2026-05-26 20:16:00,796] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:20:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 763 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_2 completed with success=False +[05/26 20:21:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_763: 1 episodes +[05/26 20:21:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:21:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:21:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_763 +[05/26 20:21:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_763 in 2.59s (batch: 2.50s, save: 0.08s) +[05/26 20:21:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_763 +[05/26 20:21:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 763: 0/1 successful episodes +[05/26 20:21:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 827 (index 3/113) +[05/26 20:21:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 827 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:21:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place black spherical bomb with fuse next to green spherical topiary +[2026-05-26 20:22:38,602] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:23:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:35:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 827 episode 0 object objabomb_dde8319900f34ee78b0cb7674d99d689_1_0_4 completed with success=False +[05/26 20:35:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_827: 1 episodes +[05/26 20:35:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:35:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:35:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_827 +[05/26 20:35:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_827 in 2.70s (batch: 2.60s, save: 0.10s) +[05/26 20:35:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_827 +[05/26 20:35:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 827: 0/1 successful episodes +[05/26 20:35:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 902 (index 4/113) +[05/26 20:35:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:35:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 20:35:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place brown rusty cylindrical vintage oilcan next to large stainless steel pot +[2026-05-26 20:36:29,697] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:37:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:46:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 902 episode 0 object objaoilcan_933032bd54804ebc9b8cfd1c6a46a15e_1_0_6 completed with success=False +[05/26 20:46:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_902: 1 episodes +[05/26 20:46:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:46:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:46:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_902 +[05/26 20:46:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_902 in 2.47s (batch: 2.38s, save: 0.09s) +[05/26 20:46:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_902 +[05/26 20:46:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 902: 0/1 successful episodes +[05/26 20:46:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1015 (index 5/113) +[05/26 20:46:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 20:46:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_4b2c3143f409251db55cb5ac5dcb1f3c_2_0_6 in scene +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_2a52cf5324d94d75c620c4f6f505fbec_1_0_6 in scene +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_02f4ae923e5b4aa7bf0d338cf7423ef7_1_0_9 in scene +[05/26 20:46:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_9 in scene +Goal: place ornate vintage brass bell next to white quilted pillow +[2026-05-26 20:47:50,537] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:06:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 1015 episode 0 object objadecorativebell_0e38f4e9fecb4dd49f7e4aa00fcc121d_1_0_4 completed with success=False +[05/26 21:06:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1015: 1 episodes +[05/26 21:06:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:06:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:06:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1015 +[05/26 21:06:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1015 in 2.50s (batch: 2.42s, save: 0.09s) +[05/26 21:06:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1015 +[05/26 21:06:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1015: 0/1 successful episodes +[05/26 21:06:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1113 (index 6/113) +[05/26 21:06:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1113 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 21:06:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place round stone weight with metal ring next to green plastic spray bottle +[2026-05-26 21:08:34,301] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:09:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 1113 episode 0 object objaweight_fceabaa7a09d4072b6befd0625cb4031_1_0_2 completed with success=False +[05/26 21:10:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1113: 1 episodes +[05/26 21:10:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:10:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:10:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1113 +[05/26 21:10:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1113 in 2.70s (batch: 2.60s, save: 0.09s) +[05/26 21:10:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1113 +[05/26 21:10:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1113: 0/1 successful episodes +[05/26 21:10:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1140 (index 7/113) +[05/26 21:10:49 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 21:10:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place green gemstone next to red spaceship +[2026-05-26 21:12:12,522] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 1140 episode 0 object objagemstone_f465cd539c064a27ad4f7e57c84afb7c_1_0_4 completed with success=False +[05/26 21:28:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place greek kylix next to small green house plant in pot +[2026-05-26 21:29:53,452] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:30:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:46:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 1140 episode 1 object objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_7 completed with success=False +[05/26 21:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1140: 2 episodes +[05/26 21:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1140 +[05/26 21:46:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1140 in 4.97s (batch: 4.81s, save: 0.16s) +[05/26 21:46:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1140 +[05/26 21:46:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1140: 0/2 successful episodes +[05/26 21:46:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1208 (index 8/113) +[05/26 21:46:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 21:46:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 21:46:24 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place ornate bronze bell with engravings next to soft white pillow with quilting +[2026-05-26 21:47:26,319] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:47:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:03:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 1208 episode 0 object objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4 completed with success=False +[05/26 22:03:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1208: 1 episodes +[05/26 22:03:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:03:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:03:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1208 +[05/26 22:03:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1208 in 2.68s (batch: 2.59s, save: 0.09s) +[05/26 22:03:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1208 +[05/26 22:03:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1208: 0/1 successful episodes +[05/26 22:03:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1280 (index 9/113) +[05/26 22:03:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1280 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:03:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/26 22:03:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_2 in scene +Goal: place glossy teal ceramic cat with patterns next to blue mushroom +[2026-05-26 22:04:40,387] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:05:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:13:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1280 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_7 completed with success=False +[05/26 22:13:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1280: 1 episodes +[05/26 22:13:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:13:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:13:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1280 +[05/26 22:13:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1280 in 2.57s (batch: 2.47s, save: 0.10s) +[05/26 22:13:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1280 +[05/26 22:13:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1280: 0/1 successful episodes +[05/26 22:13:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1351 (index 10/113) +[05/26 22:13:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:13:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place ceramic jug next to tall dark cup with ridges base +[2026-05-26 22:14:48,337] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:15:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:21:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 1351 episode 0 object objaceramicjug_4ce0f5ece3c7422c9ec23470cc38b088_1_0_8 completed with success=True +[05/26 22:21:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1351: 1 episodes +[05/26 22:21:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 265 timesteps +[05/26 22:21:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:21:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1351 +[05/26 22:21:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1351 in 2.44s (batch: 2.37s, save: 0.06s) +[05/26 22:21:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1351 +[05/26 22:21:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1351: 1/1 successful episodes +[05/26 22:21:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1426 (index 11/113) +[05/26 22:21:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1426 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:21:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 22:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene +[05/26 22:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place push-button radio next to colored hardcover sketchbook +[2026-05-26 22:22:20,153] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:22:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:38:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 1426 episode 0 object objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_4 completed with success=False +[05/26 22:38:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1426: 1 episodes +[05/26 22:38:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:38:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:38:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1426 +[05/26 22:38:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1426 in 2.63s (batch: 2.54s, save: 0.09s) +[05/26 22:38:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1426 +[05/26 22:38:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1426: 0/1 successful episodes +[05/26 22:38:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1572 (index 12/113) +[05/26 22:38:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:38:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place compass next to brown cardboard box +[2026-05-26 22:39:14,911] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:39:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:46:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 1572 episode 0 object objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_7 completed with success=False +[05/26 22:46:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1572: 1 episodes +[05/26 22:46:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:46:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:46:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1572 +[05/26 22:46:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1572 in 2.48s (batch: 2.39s, save: 0.09s) +[05/26 22:46:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1572 +[05/26 22:46:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1572: 0/1 successful episodes +[05/26 22:46:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1695 (index 13/113) +[05/26 22:46:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1695 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:46:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 22:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturecastletower_a08a00d32f694f219170f6867cbc7d46_1_0_5 in scene +[05/26 22:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place breadstuff next to bulbous shiny gold metallic vase +[2026-05-26 22:47:41,650] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:48:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:56:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 1695 episode 0 object objapastry_02f82d69871941859c7cd594bb3fc0b4_1_0_8 completed with success=False +[05/26 22:56:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1695: 1 episodes +[05/26 22:56:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:56:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:56:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1695 +[05/26 22:56:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1695 in 2.48s (batch: 2.39s, save: 0.09s) +[05/26 22:56:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1695 +[05/26 22:56:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1695: 0/1 successful episodes +[05/26 22:56:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1749 (index 14/113) +[05/26 22:56:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 22:56:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place wooden gavel with decorative cord next to ancient fossilized skull +[2026-05-26 22:57:46,069] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:07:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1749 episode 0 object objagavel_8bdbe3dbca7b49b488026595937f5009_1_0_2 completed with success=False +[05/26 23:07:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1749: 1 episodes +[05/26 23:07:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:07:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:07:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1749 +[05/26 23:07:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1749 in 2.60s (batch: 2.51s, save: 0.09s) +[05/26 23:07:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1749 +[05/26 23:07:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1749: 0/1 successful episodes +[05/26 23:07:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1828 (index 15/113) +[05/26 23:07:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1828 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:07:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place mounting bracket next to shallow white square bowl +[2026-05-26 23:09:28,715] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:10:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:22:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 1828 episode 0 object objamountingbracket_61d93824512b4446be5195ab592ae138_1_0_4 completed with success=False +[05/26 23:22:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1828: 1 episodes +[05/26 23:22:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:22:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:22:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1828 +[05/26 23:22:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1828 in 2.54s (batch: 2.45s, save: 0.09s) +[05/26 23:22:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1828 +[05/26 23:22:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1828: 0/1 successful episodes +[05/26 23:22:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1930 (index 16/113) +[05/26 23:22:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1930 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:22:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place red apple next to red rectangular lucky charms box +[2026-05-26 23:23:37,732] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:24:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:34:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1930 episode 0 object apple_3076d24521ee5e895156b37b1b9fb130_1_0_6 completed with success=False +[05/26 23:34:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1930: 1 episodes +[05/26 23:34:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:34:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:34:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1930 +[05/26 23:34:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1930 in 2.51s (batch: 2.42s, save: 0.09s) +[05/26 23:34:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1930 +[05/26 23:34:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1930: 0/1 successful episodes +[05/26 23:34:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2032 (index 17/113) +[05/26 23:34:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:34:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place red lighthouse with framework next to purple spray bottle with nozzle +[2026-05-26 23:39:03,533] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:55:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2032 episode 0 object objalighthouse_38f4ca24b0e94683b7becccda1b8f9ca_1_0_5 completed with success=False +[05/26 23:55:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2032: 1 episodes +[05/26 23:55:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:55:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:55:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2032 +[05/26 23:55:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2032 in 2.55s (batch: 2.46s, save: 0.09s) +[05/26 23:55:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2032 +[05/26 23:55:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2032: 0/1 successful episodes +[05/26 23:55:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2109 (index 18/113) +[05/26 23:55:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2109 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/26 23:55:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place wood chisel next to bronze female statue +[2026-05-27 00:03:28,303] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:17:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 2109 episode 0 object objachisel_6938a8ad91724ed29b96ef4b7beb5f23_1_0_9 completed with success=False +[05/27 00:17:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2109: 1 episodes +[05/27 00:17:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:17:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:17:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2109 +[05/27 00:17:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2109 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 00:17:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2109 +[05/27 00:17:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2109: 0/1 successful episodes +[05/27 00:17:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2232 (index 19/113) +[05/27 00:17:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2232 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 00:17:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 00:19:35 Worker 0 WARNING object_manager.py:1238] Could not find object objapaintbucket_9dec0ba6f4b9475a838f3081c10943fd_1_0_2 in scene +[05/27 00:19:35 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_7e064d39aa61ae3983505d5955fcd947_1_0_2 in scene +Goal: place small brown shrew figure next to armour plate +[2026-05-27 00:20:37,880] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:21:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:30:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 2232 episode 0 object objaanimalsculpture_1dc0a7826fdd4279b8041fab6c370d07_1_0_7 completed with success=False +[05/27 00:30:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2232: 1 episodes +[05/27 00:30:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:30:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:30:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2232 +[05/27 00:30:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2232 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 00:30:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2232 +[05/27 00:30:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2232: 0/1 successful episodes +[05/27 00:30:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2342 (index 20/113) +[05/27 00:30:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2342 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 00:30:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place brown spotted ceramic animal vessel next to spray bottle +[2026-05-27 00:31:44,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:32:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:41:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 2342 episode 0 object objaceramicvessel_c292b6f0b87b4272ba67504efdda2958_1_0_6 completed with success=False +[05/27 00:41:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2342: 1 episodes +[05/27 00:41:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:41:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:41:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2342 +[05/27 00:41:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2342 in 2.65s (batch: 2.56s, save: 0.10s) +[05/27 00:41:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2342 +[05/27 00:41:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2342: 0/1 successful episodes +[05/27 00:41:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2458 (index 21/113) +[05/27 00:41:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2458 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 00:41:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 00:42:23 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_9 in scene +[05/27 00:42:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_9 in scene +Goal: place red pagoda pop-up card next to red spiky spherical virus model +[2026-05-27 00:43:25,874] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:02:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2458 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_6 completed with success=False +[05/27 01:02:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2458: 1 episodes +[05/27 01:02:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:02:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:02:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2458 +[05/27 01:02:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2458 in 2.52s (batch: 2.42s, save: 0.09s) +[05/27 01:02:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2458 +[05/27 01:02:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2458: 0/1 successful episodes +[05/27 01:02:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2498 (index 22/113) +[05/27 01:02:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2498 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:02:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 01:04:55 Worker 0 WARNING object_manager.py:1238] Could not find object objahatchet_0dfc7c5654e945daac9bd0ab195b24ee_1_0_3 in scene +Goal: place beige spatula next to smooth beige egg +[2026-05-27 01:05:57,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:23:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 2498 episode 0 object objaspatula_8208e17164a04672bfabc6152ff43e71_1_0_2 completed with success=False +[05/27 01:23:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2498: 1 episodes +[05/27 01:23:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:23:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:23:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2498 +[05/27 01:23:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2498 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 01:23:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2498 +[05/27 01:23:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2498: 0/1 successful episodes +[05/27 01:23:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2634 (index 23/113) +[05/27 01:23:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:23:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place white paper cup with starbucks logo next to bulbous shiny gold vase +[2026-05-27 01:25:24,903] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:26:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:38:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 2634 episode 0 object objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_8 completed with success=False +[05/27 01:38:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2634: 1 episodes +[05/27 01:38:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:38:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:38:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2634 +[05/27 01:38:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2634 in 2.55s (batch: 2.46s, save: 0.09s) +[05/27 01:38:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2634 +[05/27 01:38:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2634: 0/1 successful episodes +[05/27 01:38:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2767 (index 24/113) +[05/27 01:38:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:38:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +[05/27 01:39:05 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodentag_a497eb1b77174981bc3ff68b9905287c_1_0_2 in scene +[05/27 01:39:05 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2 in scene +Goal: place brown wooden gavel next to soap bottle +[2026-05-27 01:40:08,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:40:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:46:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 2767 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False +[05/27 01:46:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2767: 1 episodes +[05/27 01:46:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:46:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:46:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2767 +[05/27 01:46:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2767 in 2.53s (batch: 2.44s, save: 0.09s) +[05/27 01:46:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2767 +[05/27 01:46:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2767: 0/1 successful episodes +[05/27 01:46:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2843 (index 25/113) +[05/27 01:46:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2843 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 01:46:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 01:47:04 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyairship_85970e5b079d4550b282ce7a659a8777_1_0_9 in scene +[05/27 01:47:04 Worker 0 WARNING object_manager.py:1238] Could not find object plate_6507c0d0aa81061e355e493065f753b3_1_0_9 in scene +Goal: place small beige clay tablet with engravings next to gray sports shoe with black swoosh +[2026-05-27 01:48:07,434] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:03:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 2843 episode 0 object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7 completed with success=False +[05/27 02:03:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2843: 1 episodes +[05/27 02:03:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:03:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:03:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2843 +[05/27 02:03:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2843 in 2.65s (batch: 2.53s, save: 0.12s) +[05/27 02:03:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2843 +[05/27 02:03:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2843: 0/1 successful episodes +[05/27 02:03:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2922 (index 26/113) +[05/27 02:03:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2922 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:03:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 02:04:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturebuildingmodel_41aa4d0aa1684201ae816be715e37748_1_0_9 in scene +[05/27 02:04:20 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_9 in scene +Goal: place gnome with red hat next to translucent ergonomic spray bottle +[2026-05-27 02:05:23,750] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:06:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:20:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2922 episode 0 object objagardengnome_a6cecca0308e43878a034c5f45b098a9_1_0_8 completed with success=False +[05/27 02:20:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2922: 1 episodes +[05/27 02:20:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:20:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:20:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2922 +[05/27 02:20:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2922 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 02:20:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2922 +[05/27 02:20:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2922: 0/1 successful episodes +[05/27 02:20:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3043 (index 27/113) +[05/27 02:20:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3043 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:20:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object objabowtie_c6e9f4585a054e5fb0a86b42c94d0d9b_1_0_2 in scene +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_2 in scene +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_3 in scene +[05/27 02:20:57 Worker 0 WARNING object_manager.py:1238] Could not find object objawallsection_a068840f0154440a9ab4c4ab73217fb5_1_0_3 in scene +Goal: place blue dotted sign wall decoration next to ripe red tomato +[2026-05-27 02:22:01,271] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:30:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 3043 episode 0 object objasignage_29124066089941bbb3fa3517a686019c_1_0_2 completed with success=False +[05/27 02:30:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3043: 1 episodes +[05/27 02:30:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:30:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:30:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3043 +[05/27 02:30:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3043 in 2.63s (batch: 2.54s, save: 0.09s) +[05/27 02:30:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3043 +[05/27 02:30:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3043: 0/1 successful episodes +[05/27 02:30:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3148 (index 28/113) +[05/27 02:30:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:30:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place colorful geometric molecular model next to white toy cannon with yellow spirals +[2026-05-27 02:32:44,430] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:33:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:45:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 3148 episode 0 object objaeducationaltoy_6b36a0d3ca22472280b1d9c57dfd88b6_1_0_6 completed with success=False +[05/27 02:45:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3148: 1 episodes +[05/27 02:45:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:46:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:46:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3148 +[05/27 02:46:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3148 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 02:46:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3148 +[05/27 02:46:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3148: 0/1 successful episodes +[05/27 02:46:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3239 (index 29/113) +[05/27 02:46:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3239 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:46:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place smooth plastic realistic hand model next to thick hardcover blue book +[2026-05-27 02:47:08,971] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:47:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:53:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3239 episode 0 object objahandmodel_ed06e3aa4fea4cd9b37746b2101d4ca5_1_0_2 completed with success=False +[05/27 02:53:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3239: 1 episodes +[05/27 02:53:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:53:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:53:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3239 +[05/27 02:53:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3239 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 02:53:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3239 +[05/27 02:53:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3239: 0/1 successful episodes +[05/27 02:53:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3283 (index 30/113) +[05/27 02:53:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 02:53:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place bright yellow crown with text "barbearia king next to medium smooth yellow apple with stem +[2026-05-27 02:54:41,337] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:04:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3283 episode 0 object objacrown_5847bde4308c4d9da7345bff00cb4d55_1_0_6 completed with success=False +[05/27 03:04:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3283: 1 episodes +[05/27 03:04:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:04:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:04:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3283 +[05/27 03:04:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3283 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 03:04:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3283 +[05/27 03:04:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3283: 0/1 successful episodes +[05/27 03:04:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3368 (index 31/113) +[05/27 03:04:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3368 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:04:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 03:04:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place light rectangular amulet with figure next to gold vase +[2026-05-27 03:05:22,514] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:05:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:17:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3368 episode 0 object objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_8 completed with success=False +[05/27 03:17:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3368: 1 episodes +[05/27 03:17:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:17:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:17:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3368 +[05/27 03:17:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3368 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 03:17:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3368 +[05/27 03:17:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3368: 0/1 successful episodes +[05/27 03:17:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3416 (index 32/113) +[05/27 03:17:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:17:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place wavy strip with gradient next to smooth green rectangular pillow cushion +[2026-05-27 03:18:44,217] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:31:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3416 episode 0 object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_9 completed with success=False +[05/27 03:31:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3416: 1 episodes +[05/27 03:31:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:31:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:31:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3416 +[05/27 03:31:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3416 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 03:31:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3416 +[05/27 03:31:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3416: 0/1 successful episodes +[05/27 03:31:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3514 (index 33/113) +[05/27 03:31:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:31:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place green plastic package next to tall vase with scalloped rim +[2026-05-27 03:32:39,744] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:33:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:34:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3514 episode 0 object objasnackpackage_4b807308e65c4ecd85b8bb1cd5d8da4a_1_0_2 completed with success=False +[05/27 03:34:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3514: 1 episodes +[05/27 03:34:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:34:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:34:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3514 +[05/27 03:34:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3514 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 03:34:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3514 +[05/27 03:34:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3514: 0/1 successful episodes +[05/27 03:34:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3588 (index 34/113) +[05/27 03:34:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3588 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:34:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place dark wooden tool next to polished smooth rounded blue bowl +[2026-05-27 03:35:48,232] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:36:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:43:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 3588 episode 0 object objawoodentool_6727d5933a6f4097a678f6ee8b3d1de0_1_0_2 completed with success=False +[05/27 03:43:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3588: 1 episodes +[05/27 03:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:43:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:43:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3588 +[05/27 03:43:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3588 in 2.64s (batch: 2.56s, save: 0.09s) +[05/27 03:43:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3588 +[05/27 03:43:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3588: 0/1 successful episodes +[05/27 03:43:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3718 (index 35/113) +[05/27 03:43:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3718 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:43:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place geologicalspecimen next to pencil +[2026-05-27 03:44:42,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:45:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:58:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3718 episode 0 object objageologicalspecimen_226e782eecfb47018de9a781a77276d0_1_0_8 completed with success=False +[05/27 03:58:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3718: 1 episodes +[05/27 03:58:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:58:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:58:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3718 +[05/27 03:58:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3718 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 03:58:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3718 +[05/27 03:58:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3718: 0/1 successful episodes +[05/27 03:58:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3759 (index 36/113) +[05/27 03:58:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3759 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 03:58:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[05/27 03:58:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_3 in scene +[05/27 03:58:19 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_3 in scene +Goal: place denture next to red lighthouse with framework +[2026-05-27 03:59:23,075] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:59:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:06:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 3759 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_3 completed with success=False +[05/27 04:06:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3759: 1 episodes +[05/27 04:06:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:06:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:06:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3759 +[05/27 04:06:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3759 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 04:06:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3759 +[05/27 04:06:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3759: 0/1 successful episodes +[05/27 04:06:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3900 (index 37/113) +[05/27 04:06:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:06:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place beige ceramic lid with central knob next to translucent ergonomic spray bottle +[2026-05-27 04:08:04,693] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:08:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:18:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 3900 episode 0 object objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_6 completed with success=False +[05/27 04:18:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3900: 1 episodes +[05/27 04:18:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:18:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:18:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3900 +[05/27 04:18:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3900 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 04:18:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3900 +[05/27 04:18:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3900: 0/1 successful episodes +[05/27 04:18:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3991 (index 38/113) +[05/27 04:18:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:18:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place green nameplate next to glossy wooden tapered cup +[2026-05-27 04:19:43,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:20:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:21:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3991 episode 0 object objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_6 completed with success=False +[05/27 04:21:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue puzzle piece with rainbow clouds next to modern black faucet with spray +[2026-05-27 04:22:45,226] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:23:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:32:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 3991 episode 1 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6 completed with success=False +[05/27 04:32:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3991: 2 episodes +[05/27 04:32:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:32:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:32:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:32:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:32:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3991 +[05/27 04:32:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3991 in 5.37s (batch: 5.19s, save: 0.17s) +[05/27 04:32:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3991 +[05/27 04:32:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3991: 0/2 successful episodes +[05/27 04:32:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4028 (index 39/113) +[05/27 04:32:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4028 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:32:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 04:32:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene +Goal: place lifelike yellow striped wasp model next to weathered stone disc +[2026-05-27 04:33:35,282] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:34:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:43:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 4028 episode 0 object objainsect_f384c01929c74ff49375cb5f79f03466_1_0_7 completed with success=False +[05/27 04:43:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4028: 1 episodes +[05/27 04:43:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:43:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:43:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4028 +[05/27 04:43:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4028 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 04:43:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4028 +[05/27 04:43:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4028: 0/1 successful episodes +[05/27 04:43:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4115 (index 40/113) +[05/27 04:43:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:43:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 04:43:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaabstractsculpture_50fd637c724a48e8940360d6690663ba_1_0_2 in scene +Goal: place metal pliers tool next to blue patterned phone +[2026-05-27 04:44:51,171] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:45:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:53:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4115 episode 0 object objapliers_0aad9dd2a4cf4eb28b87b0e67dc7ec18_1_0_6 completed with success=False +[05/27 04:53:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4115: 1 episodes +[05/27 04:53:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:53:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:53:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4115 +[05/27 04:53:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4115 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 04:53:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4115 +[05/27 04:53:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4115: 0/1 successful episodes +[05/27 04:53:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4198 (index 41/113) +[05/27 04:53:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4198 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 04:53:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 04:54:07 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyairplane_727f33155d8c46fc9f01a7ee7c346538_1_0_6 in scene +[05/27 04:54:07 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_e1cf88813ab29e11ba18f4177beb0346_1_0_6 in scene +[05/27 04:54:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_7 in scene +Goal: place fresh pineapple with spiky green leaves next to fresh elongated green romaine lettuce +[2026-05-27 04:55:10,692] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:55:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:05:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 4198 episode 0 object objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_6 completed with success=False +[05/27 05:05:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4198: 1 episodes +[05/27 05:05:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:06:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:06:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4198 +[05/27 05:06:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4198 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 05:06:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4198 +[05/27 05:06:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4198: 0/1 successful episodes +[05/27 05:06:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4266 (index 42/113) +[05/27 05:06:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:06:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place vintage black camera next to bulbous shiny gold metallic vase +[2026-05-27 05:07:14,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:26:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4266 episode 0 object objacamera_f49a08efb8a544efb98d4d806b0d1c27_1_0_4 completed with success=False +[05/27 05:26:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4266: 1 episodes +[05/27 05:26:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:26:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:26:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4266 +[05/27 05:26:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4266 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 05:26:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4266 +[05/27 05:26:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4266: 0/1 successful episodes +[05/27 05:26:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4306 (index 43/113) +[05/27 05:26:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:26:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place brown leather high-top boot next to brown cardboard box open +[2026-05-27 05:27:41,706] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:28:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:42:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4306 episode 0 object objaboot_83072c9d2cf54194a165897bc77196c1_1_0_6 completed with success=False +[05/27 05:42:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4306: 1 episodes +[05/27 05:42:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:42:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:42:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4306 +[05/27 05:42:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4306 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 05:42:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4306 +[05/27 05:42:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4306: 0/1 successful episodes +[05/27 05:42:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4385 (index 44/113) +[05/27 05:42:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:42:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place garden hose nozzle next to apple +[2026-05-27 05:44:00,655] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:54:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4385 episode 0 object objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_6 completed with success=False +[05/27 05:54:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4385: 1 episodes +[05/27 05:54:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:54:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:54:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4385 +[05/27 05:54:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4385 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 05:54:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4385 +[05/27 05:54:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4385: 0/1 successful episodes +[05/27 05:54:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4476 (index 45/113) +[05/27 05:54:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4476 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 05:54:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 05:54:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_7447e37e0378480c9e30e943350f8ab7_1_0_7 in scene +Goal: place red keychain next to smooth yellow egg with black zigzag +[2026-05-27 05:55:38,366] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:56:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:09:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4476 episode 0 object objakeychainholder_073e7cc7e9cf4968afc05d50528c7f9b_1_0_9 completed with success=False +[05/27 06:09:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4476: 1 episodes +[05/27 06:09:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:09:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:09:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4476 +[05/27 06:09:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4476 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 06:09:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4476 +[05/27 06:09:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4476: 0/1 successful episodes +[05/27 06:09:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4577 (index 46/113) +[05/27 06:09:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:09:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place ginger root next to blue spray bottle +[2026-05-27 06:10:23,959] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:19:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4577 episode 0 object objagingerroot_e8e250f94c6a4c51b71f15e1a3b36e25_1_0_6 completed with success=False +[05/27 06:20:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4577: 1 episodes +[05/27 06:20:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:20:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:20:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4577 +[05/27 06:20:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4577 in 2.64s (batch: 2.54s, save: 0.10s) +[05/27 06:20:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4577 +[05/27 06:20:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4577: 0/1 successful episodes +[05/27 06:20:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4654 (index 47/113) +[05/27 06:20:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:20:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place golden metallic laurel wreath headpiece next to vintage metal tag +[2026-05-27 06:21:20,792] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:37:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4654 episode 0 object objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_9 completed with success=False +[05/27 06:37:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4654: 1 episodes +[05/27 06:37:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:37:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:37:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4654 +[05/27 06:37:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4654 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 06:37:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4654 +[05/27 06:37:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4654: 0/1 successful episodes +[05/27 06:37:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4692 (index 48/113) +[05/27 06:37:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:37:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place green armored character card with text next to conical soap bottle with pump +[2026-05-27 06:38:29,147] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:39:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:44:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4692 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_2 completed with success=False +[05/27 06:44:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4692: 1 episodes +[05/27 06:44:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:44:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:44:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4692 +[05/27 06:44:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4692 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 06:44:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4692 +[05/27 06:44:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4692: 0/1 successful episodes +[05/27 06:44:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4766 (index 49/113) +[05/27 06:44:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:44:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place white egg next to tall dark cup with ridges base +[2026-05-27 06:45:42,834] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:46:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:54:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4766 episode 0 object egg_768abcb7b01b3935a0261a8d2ef92b12_1_0_2 completed with success=False +[05/27 06:54:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4766: 1 episodes +[05/27 06:54:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:54:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:54:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4766 +[05/27 06:54:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4766 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 06:54:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4766 +[05/27 06:54:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4766: 0/1 successful episodes +[05/27 06:54:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4863 (index 50/113) +[05/27 06:54:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 06:54:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 06:54:42 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicatooth_c7bf1c4c76f74da4bbc1620e1173e189_1_0_3 in scene +[05/27 06:54:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_3 in scene +Goal: place dark blue wedge next to wooden bookmark with butterfly +[2026-05-27 06:55:45,682] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:56:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:08:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4863 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_4 completed with success=False +[05/27 07:08:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4863: 1 episodes +[05/27 07:08:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:08:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:08:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4863 +[05/27 07:08:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4863 in 2.56s (batch: 2.47s, save: 0.09s) +[05/27 07:08:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4863 +[05/27 07:08:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4863: 0/1 successful episodes +[05/27 07:08:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4929 (index 51/113) +[05/27 07:08:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4929 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:08:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place rustic stone cup with hole next to vibrant abstract sculpture with colorful ribbons +[2026-05-27 07:09:34,031] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:10:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:25:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4929 episode 0 object objastonecup_5ef91e0bfe7b44da9f1d2944386cce85_1_0_2 completed with success=False +[05/27 07:25:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4929: 1 episodes +[05/27 07:25:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:25:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:25:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4929 +[05/27 07:25:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4929 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 07:25:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4929 +[05/27 07:25:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4929: 0/1 successful episodes +[05/27 07:25:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5015 (index 52/113) +[05/27 07:25:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:25:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place red plastic cup with white interior next to pink daisy blooming in pot +[2026-05-27 07:27:07,597] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:27:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:38:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 5015 episode 0 object objaplasticcup_84d301b896084a2f94f2835dd4ba2d94_1_0_6 completed with success=False +[05/27 07:38:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5015: 1 episodes +[05/27 07:38:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:38:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:38:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5015 +[05/27 07:38:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5015 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 07:38:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5015 +[05/27 07:38:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5015: 0/1 successful episodes +[05/27 07:38:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5130 (index 53/113) +[05/27 07:38:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5130 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:38:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_4 in scene +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_7 in scene +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_7 in scene +[05/27 07:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_7 in scene +Goal: place cylindrical dark nhl pencilcase next to soapdispenser +[2026-05-27 07:39:19,754] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:39:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:48:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 5130 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_8 completed with success=False +[05/27 07:48:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5130: 1 episodes +[05/27 07:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:48:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:48:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5130 +[05/27 07:48:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5130 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 07:48:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5130 +[05/27 07:48:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5130: 0/1 successful episodes +[05/27 07:48:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5148 (index 54/113) +[05/27 07:48:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 07:48:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 07:48:52 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_2cb7026ffacf4889bb265099b8460c7f_1_0_5 in scene +Goal: place bronze buckle with cowboy next to golden brown artisanal loaf of bread +[2026-05-27 07:49:54,777] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:50:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:00:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5148 episode 0 object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_6 completed with success=False +[05/27 08:00:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 08:00:55 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_2cb7026ffacf4889bb265099b8460c7f_1_0_5 in scene +Goal: place modern white tape dispenser next to black radiator with looping copper tubes +[2026-05-27 08:01:58,692] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:02:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:13:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5148 episode 1 object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5 completed with success=False +[05/27 08:13:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5148: 2 episodes +[05/27 08:13:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:13:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:13:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:13:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:13:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5148 +[05/27 08:13:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5148 in 5.13s (batch: 4.95s, save: 0.18s) +[05/27 08:13:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5148 +[05/27 08:13:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5148: 0/2 successful episodes +[05/27 08:13:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5186 (index 55/113) +[05/27 08:13:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5186 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:13:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 08:13:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_5 in scene +[05/27 08:13:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/27 08:13:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place cross-shaped metallic connector with holes next to spherical colorful puzzle ball with patterns +[2026-05-27 08:14:58,719] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:15:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:27:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 5186 episode 0 object objaconnector_72e520e59a5242198535fedad37a00f1_1_0_9 completed with success=False +[05/27 08:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5186: 1 episodes +[05/27 08:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:27:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:27:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5186 +[05/27 08:27:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5186 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 08:27:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5186 +[05/27 08:27:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5186: 0/1 successful episodes +[05/27 08:27:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5288 (index 56/113) +[05/27 08:27:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5288 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:27:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place blowtorch next to realistic pink brain model +[2026-05-27 08:29:06,965] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:29:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:41:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5288 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_8 completed with success=False +[05/27 08:41:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5288: 1 episodes +[05/27 08:41:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:41:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:41:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5288 +[05/27 08:41:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5288 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 08:41:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5288 +[05/27 08:41:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5288: 0/1 successful episodes +[05/27 08:41:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5445 (index 57/113) +[05/27 08:41:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5445 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:41:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place rustic wooden mug with handle next to aerosol container +[2026-05-27 08:42:20,596] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:55:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5445 episode 0 object objamug_8529afb010814c188970381c3596afef_1_0_8 completed with success=False +[05/27 08:55:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5445: 1 episodes +[05/27 08:55:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:55:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:55:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5445 +[05/27 08:55:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5445 in 2.50s (batch: 2.40s, save: 0.09s) +[05/27 08:55:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5445 +[05/27 08:55:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5445: 0/1 successful episodes +[05/27 08:55:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5523 (index 58/113) +[05/27 08:55:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 08:55:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place rusty metal rod next to realistic beige saber-toothed cat skull +[2026-05-27 08:56:58,753] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:12:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5523 episode 0 object objametalrod_18484b0d1a274d62abde66a9047600ca_1_0_9 completed with success=False +[05/27 09:12:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5523: 1 episodes +[05/27 09:12:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:12:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:12:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5523 +[05/27 09:12:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5523 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 09:12:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5523 +[05/27 09:12:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5523: 0/1 successful episodes +[05/27 09:12:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5596 (index 59/113) +[05/27 09:12:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5596 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:12:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place stone fish decor next to textured octagonal translucent soap bottle +[2026-05-27 09:13:45,072] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:14:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:24:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5596 episode 0 object objadecorativefish_5a1f0f032b2a4774887620ca540318c4_1_0_6 completed with success=False +[05/27 09:24:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5596: 1 episodes +[05/27 09:24:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:24:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:24:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5596 +[05/27 09:24:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5596 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 09:24:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5596 +[05/27 09:24:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5596: 0/1 successful episodes +[05/27 09:24:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5652 (index 60/113) +[05/27 09:24:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5652 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:24:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place white decorative corner molding next to transparent soap bottle with dark pump +[2026-05-27 09:26:04,662] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:26:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:33:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 5652 episode 0 object objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_2 completed with success=False +[05/27 09:33:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5652: 1 episodes +[05/27 09:33:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:33:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:33:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5652 +[05/27 09:33:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5652 in 2.53s (batch: 2.44s, save: 0.10s) +[05/27 09:33:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5652 +[05/27 09:33:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5652: 0/1 successful episodes +[05/27 09:33:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5755 (index 61/113) +[05/27 09:33:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:33:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place colorful geometric molecular model next to muscleman hanging on yellow rings +[2026-05-27 09:34:34,526] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:35:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:44:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5755 episode 0 object objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_7 completed with success=False +[05/27 09:44:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5755: 1 episodes +[05/27 09:44:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:44:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:44:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5755 +[05/27 09:44:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5755 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 09:44:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5755 +[05/27 09:44:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5755: 0/1 successful episodes +[05/27 09:44:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5867 (index 62/113) +[05/27 09:44:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:44:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place glossy black sign with pink next to glossy black sign with pink +[2026-05-27 09:45:40,281] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:46:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:52:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5867 episode 0 object objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_3 completed with success=False +[05/27 09:52:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5867: 1 episodes +[05/27 09:52:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:52:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:52:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5867 +[05/27 09:52:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5867 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 09:52:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5867 +[05/27 09:52:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5867: 0/1 successful episodes +[05/27 09:52:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5914 (index 63/113) +[05/27 09:52:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5914 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 09:52:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place vintage black film camera next to curved golden prism with ship +[2026-05-27 09:54:40,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:55:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:02:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5914 episode 0 object objafilmcamera_1d9723e8400443fabf6ed8a52b9a208d_1_0_3 completed with success=False +[05/27 10:02:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5914: 1 episodes +[05/27 10:02:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:02:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:02:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5914 +[05/27 10:02:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5914 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 10:02:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5914 +[05/27 10:02:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5914: 0/1 successful episodes +[05/27 10:02:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6011 (index 64/113) +[05/27 10:02:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6011 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:02:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place blocky toy soldier wearing red uniform next to black classic bar-style mobile phone +[2026-05-27 10:04:15,332] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:04:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:17:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 6011 episode 0 object objatoysoldier_e408c968b0f44a9d92ac92ad390b608a_1_0_4 completed with success=False +[05/27 10:17:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6011: 1 episodes +[05/27 10:17:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:17:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:17:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6011 +[05/27 10:17:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6011 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 10:17:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6011 +[05/27 10:17:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6011: 0/1 successful episodes +[05/27 10:17:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6100 (index 65/113) +[05/27 10:17:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6100 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:17:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue star-shaped mold with patterns next to tall dark cup with ridges base +[2026-05-27 10:18:31,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:19:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:29:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 6100 episode 0 object objamold_225720a070c046dba53c77e9a0a7716f_1_0_6 completed with success=False +[05/27 10:29:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6100: 1 episodes +[05/27 10:29:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:29:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:29:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6100 +[05/27 10:29:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6100 in 2.55s (batch: 2.46s, save: 0.09s) +[05/27 10:29:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6100 +[05/27 10:29:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6100: 0/1 successful episodes +[05/27 10:29:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6170 (index 66/113) +[05/27 10:29:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6170 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:29:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 10:29:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaelectricaloutlet_4e5f458de0884bf8a5b460b2bfdf3c41_1_0_2 in scene +Goal: place green packet next to decorative goblet with ribbon bow +[2026-05-27 10:30:15,054] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:30:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:33:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 6170 episode 0 object objapacket_30d0d5de961f4a889aeac04b1e81cd61_1_0_2 completed with success=False +[05/27 10:33:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6170: 1 episodes +[05/27 10:33:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:33:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:33:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6170 +[05/27 10:33:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6170 in 2.54s (batch: 2.45s, save: 0.09s) +[05/27 10:33:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6170 +[05/27 10:33:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6170: 0/1 successful episodes +[05/27 10:33:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6250 (index 67/113) +[05/27 10:33:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6250 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:33:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place worn brown work glove with cuff next to dark gray rounded cast iron pot +[2026-05-27 10:34:23,295] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:34:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:42:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6250 episode 0 object objaglove_437e50e2a7b441ba87d54392c39c0baf_1_0_6 completed with success=False +[05/27 10:42:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6250: 1 episodes +[05/27 10:42:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:42:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:42:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6250 +[05/27 10:42:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6250 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 10:42:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6250 +[05/27 10:42:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6250: 0/1 successful episodes +[05/27 10:42:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6293 (index 68/113) +[05/27 10:42:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6293 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 10:42:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 10:43:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 10:43:11 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_c337b092178a4931a68336c3e6f49287_1_0_5 in scene +[05/27 10:43:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +Goal: place blue metallic disc next to bulbous shiny gold vase +[2026-05-27 10:44:15,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:44:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:00:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 6293 episode 0 object objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_3 completed with success=False +[05/27 11:00:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6293: 1 episodes +[05/27 11:00:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:00:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:00:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6293 +[05/27 11:00:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6293 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 11:00:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6293 +[05/27 11:00:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6293: 0/1 successful episodes +[05/27 11:00:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6378 (index 69/113) +[05/27 11:00:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6378 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:00:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 11:00:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativefigurine_ad9c3e91ec494617a3fd842301dab227_1_0_4 in scene +[05/27 11:00:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place primitive off-white stone arrowhead tool next to white hardcover book about programming +[2026-05-27 11:01:43,154] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:02:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:17:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6378 episode 0 object objastonetool_ecbf9010c8ff4544867d28d237dab330_1_0_4 completed with success=False +[05/27 11:17:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6378: 1 episodes +[05/27 11:17:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:17:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:17:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6378 +[05/27 11:17:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6378 in 2.58s (batch: 2.48s, save: 0.09s) +[05/27 11:17:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6378 +[05/27 11:17:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6378: 0/1 successful episodes +[05/27 11:17:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6430 (index 70/113) +[05/27 11:17:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6430 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:17:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place sharp scissors with blue handles next to tall dark cup with ridges +[2026-05-27 11:18:52,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:19:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:24:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 6430 episode 0 object objascissors_c67efef1abeb41969eef84c06311fac6_1_0_2 completed with success=False +[05/27 11:24:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6430: 1 episodes +[05/27 11:24:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:24:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:24:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6430 +[05/27 11:24:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6430 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 11:24:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6430 +[05/27 11:24:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6430: 0/1 successful episodes +[05/27 11:24:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6533 (index 71/113) +[05/27 11:24:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6533 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:24:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place gamingmouse next to faded blue vintage car +[2026-05-27 11:26:18,972] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:26:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:35:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 6533 episode 0 object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6 completed with success=False +[05/27 11:35:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6533: 1 episodes +[05/27 11:35:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:35:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:35:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6533 +[05/27 11:35:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6533 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 11:35:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6533 +[05/27 11:35:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6533: 0/1 successful episodes +[05/27 11:35:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6672 (index 72/113) +[05/27 11:35:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:35:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 11:36:00 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +Goal: place brown stick next to brown bread +[2026-05-27 11:37:03,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:37:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:48:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 6672 episode 0 object objastick_973e872f05da428b9594feb65ec42e10_1_0_6 completed with success=False +[05/27 11:48:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6672: 1 episodes +[05/27 11:48:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:48:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:48:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6672 +[05/27 11:48:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6672 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 11:48:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6672 +[05/27 11:48:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6672: 0/1 successful episodes +[05/27 11:48:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6755 (index 73/113) +[05/27 11:48:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 11:48:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 11:48:57 Worker 0 WARNING object_manager.py:1238] Could not find object objametalartifact_ce43098d06304a5c854f996ce96bd02e_1_0_5 in scene +[05/27 11:48:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +Goal: place primitive stone hammer with wooden handle next to metallic brushed stainless steel toaster +[2026-05-27 11:50:02,121] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:05:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6755 episode 0 object objastonehammer_5222cf9dedae4a31882281f6d7bada89_1_0_8 completed with success=False +[05/27 12:05:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6755: 1 episodes +[05/27 12:05:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:05:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:05:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6755 +[05/27 12:05:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6755 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 12:05:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6755 +[05/27 12:05:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6755: 0/1 successful episodes +[05/27 12:05:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6858 (index 74/113) +[05/27 12:05:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6858 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:05:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place ergonomic black handheld scanner next to blue glossy vase +[2026-05-27 12:06:27,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:07:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:17:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 6858 episode 0 object objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_4 completed with success=False +[05/27 12:17:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6858: 1 episodes +[05/27 12:17:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:17:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:17:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6858 +[05/27 12:17:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6858 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 12:17:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6858 +[05/27 12:17:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6858: 0/1 successful episodes +[05/27 12:17:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6934 (index 75/113) +[05/27 12:17:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6934 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:17:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place replica bone next to pagoda with dragon and chains +[2026-05-27 12:19:05,715] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:19:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:20:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6934 episode 0 object objareplicabone_d016a23297944f2db6a6f92625f39bf0_1_0_7 completed with success=True +[05/27 12:20:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6934: 1 episodes +[05/27 12:20:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/27 12:20:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:20:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6934 +[05/27 12:20:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6934 in 2.39s (batch: 2.37s, save: 0.03s) +[05/27 12:20:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6934 +[05/27 12:20:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6934: 1/1 successful episodes +[05/27 12:20:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6995 (index 76/113) +[05/27 12:20:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:20:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objarockformation_4d2933a75ff24afc8b8a76cd9a33a4b3_1_0_2 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object cup_846a15223bb43478575a27d2329db25d_1_0_2 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_9 in scene +[05/27 12:21:05 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_9 in scene +Goal: place large bulbous garlic with dried stem next to dark gray plate with ridges +[2026-05-27 12:22:11,499] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:22:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:40:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 6995 episode 0 object objagarlicbulb_0ba46093caff4ef7b415279e4a28e3cc_1_0_2 completed with success=False +[05/27 12:40:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6995: 1 episodes +[05/27 12:40:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:40:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:40:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6995 +[05/27 12:40:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6995 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 12:40:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6995 +[05/27 12:40:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6995: 0/1 successful episodes +[05/27 12:40:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7065 (index 77/113) +[05/27 12:40:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7065 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:40:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 12:40:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene +Goal: place dark nhl pencilcase next to vibrant floral mug with handle +[2026-05-27 12:41:52,170] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:42:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:51:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 7065 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_6 completed with success=False +[05/27 12:51:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7065: 1 episodes +[05/27 12:51:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:51:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:51:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7065 +[05/27 12:51:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7065 in 2.54s (batch: 2.45s, save: 0.09s) +[05/27 12:51:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7065 +[05/27 12:51:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7065: 0/1 successful episodes +[05/27 12:51:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7148 (index 78/113) +[05/27 12:51:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 12:51:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place white candle with number four next to pink grooved candle on green holder +[2026-05-27 12:52:50,722] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:06:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 7148 episode 0 object objadecorativecandle_f6df1e32257f437d896fc6c406d04914_1_0_5 completed with success=False +[05/27 13:06:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7148: 1 episodes +[05/27 13:06:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:06:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:06:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7148 +[05/27 13:06:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7148 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 13:06:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7148 +[05/27 13:06:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7148: 0/1 successful episodes +[05/27 13:06:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7230 (index 79/113) +[05/27 13:06:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7230 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:06:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place blue retro-style cassette player next to blue square ceramic plate +[2026-05-27 13:07:31,673] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:08:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:13:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7230 episode 0 object objacassetteplayer_14daacbaf0f94f458851e15dfd717426_2_0_3 completed with success=False +[05/27 13:13:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7230: 1 episodes +[05/27 13:13:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:13:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:13:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7230 +[05/27 13:13:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7230 in 2.60s (batch: 2.52s, save: 0.09s) +[05/27 13:13:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7230 +[05/27 13:13:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7230: 0/1 successful episodes +[05/27 13:13:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7333 (index 80/113) +[05/27 13:13:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7333 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:13:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place white smart speaker with fabric next to heavily rusted brake caliper pistons +[2026-05-27 13:14:30,072] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:26:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 7333 episode 0 object objasmartspeaker_5388f20d16064e1fae2741e1c26c9fa3_1_0_9 completed with success=False +[05/27 13:26:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7333: 1 episodes +[05/27 13:26:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:26:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:26:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7333 +[05/27 13:26:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7333 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 13:26:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7333 +[05/27 13:26:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7333: 0/1 successful episodes +[05/27 13:26:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7347 (index 81/113) +[05/27 13:26:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 7347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:26:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 13:26:42 Worker 0 WARNING object_manager.py:1238] Could not find object objasignage_bb52b9455ae4459e94b6d3bf9d3fb510_1_0_6 in scene +[05/27 13:26:42 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene +Goal: place butt hinge next to black white striped decorative award +[2026-05-27 13:27:46,687] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:28:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:35:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 7347 episode 0 object objaconcealedhinge_dc23e9723bdc42fa8f79ff643bcc68e3_1_0_6 completed with success=False +[05/27 13:35:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 13:35:53 Worker 0 WARNING object_manager.py:1238] Could not find object objasignage_bb52b9455ae4459e94b6d3bf9d3fb510_1_0_6 in scene +[05/27 13:35:53 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene +Goal: place blue wavy porous cleaning sponge next to cup +[2026-05-27 13:36:57,765] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:37:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:44:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7347 episode 1 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_6 completed with success=False +[05/27 13:44:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7347: 2 episodes +[05/27 13:44:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:44:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:44:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:44:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:44:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7347 +[05/27 13:44:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7347 in 5.10s (batch: 4.93s, save: 0.17s) +[05/27 13:44:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7347 +[05/27 13:44:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7347: 0/2 successful episodes +[05/27 13:44:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7363 (index 82/113) +[05/27 13:44:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7363 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:44:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place antique hand mirror with floral next to turquoise toy vehicle with red wheels +[2026-05-27 13:45:55,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:46:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:51:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7363 episode 0 object objahandmirror_356c4b59d2b14b5a841475d01d4e82aa_2_0_2 completed with success=False +[05/27 13:51:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7363: 1 episodes +[05/27 13:51:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:51:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:51:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7363 +[05/27 13:51:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7363 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 13:51:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7363 +[05/27 13:51:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7363: 0/1 successful episodes +[05/27 13:51:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7440 (index 83/113) +[05/27 13:51:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7440 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 13:51:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 13:51:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene +Goal: place spherical polished brown wooden yo-yo next to open brown cardboard box for packaging +[2026-05-27 13:52:47,707] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:09:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 7440 episode 0 object objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_7 completed with success=False +[05/27 14:09:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7440: 1 episodes +[05/27 14:09:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:09:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7440 +[05/27 14:09:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7440 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 14:09:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7440 +[05/27 14:09:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7440: 0/1 successful episodes +[05/27 14:09:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7504 (index 84/113) +[05/27 14:09:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:09:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place black espresso pot next to sleek dark portable laptop with keyboard +[2026-05-27 14:10:38,828] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:11:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:23:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 7504 episode 0 object objamokapot_e359184cea054cb09b5c603845cb0231_1_0_4 completed with success=False +[05/27 14:23:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7504: 1 episodes +[05/27 14:23:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:23:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:23:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7504 +[05/27 14:23:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7504 in 2.54s (batch: 2.45s, save: 0.10s) +[05/27 14:23:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7504 +[05/27 14:23:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7504: 0/1 successful episodes +[05/27 14:23:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7625 (index 85/113) +[05/27 14:23:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:23:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place means next to gold pump bottle +[2026-05-27 14:25:00,495] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:25:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:34:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 7625 episode 0 object objatray_b4351af051964283968b5fed441ee844_1_0_6 completed with success=False +[05/27 14:34:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7625: 1 episodes +[05/27 14:34:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:34:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:34:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7625 +[05/27 14:34:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7625 in 2.57s (batch: 2.47s, save: 0.09s) +[05/27 14:34:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7625 +[05/27 14:34:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7625: 0/1 successful episodes +[05/27 14:34:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7740 (index 86/113) +[05/27 14:34:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7740 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:34:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 14:35:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene +[05/27 14:35:00 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene +Goal: place orange and green cube next to gray elongated stone +[2026-05-27 14:36:05,675] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:36:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:50:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7740 episode 0 object objapuzzletoy_3b74eeb531ca4f49a0274e2887526aee_1_0_8 completed with success=False +[05/27 14:50:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7740: 1 episodes +[05/27 14:50:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:50:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:50:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7740 +[05/27 14:50:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7740 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 14:50:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7740 +[05/27 14:50:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7740: 0/1 successful episodes +[05/27 14:50:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7841 (index 87/113) +[05/27 14:50:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7841 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:50:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place silver bullet with red band tip next to rectangular dark gray tufted pillow +[2026-05-27 14:51:24,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:52:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:56:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 7841 episode 0 object objadecorativereplica_7da5f4dde5ae41a1b634f54bb3133b3d_1_0_2 completed with success=False +[05/27 14:56:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7841: 1 episodes +[05/27 14:56:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:56:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:56:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7841 +[05/27 14:56:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7841 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 14:56:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7841 +[05/27 14:56:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7841: 0/1 successful episodes +[05/27 14:56:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7923 (index 88/113) +[05/27 14:56:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 14:56:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place brown clay dish with handle next to fresh green lettuce with stem +[2026-05-27 14:58:20,735] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:07:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 7923 episode 0 object objaclaydish_74d08c7da86943e19fe4667bf039bf03_1_0_6 completed with success=False +[05/27 15:07:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7923: 1 episodes +[05/27 15:07:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:07:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:07:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7923 +[05/27 15:07:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7923 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 15:07:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7923 +[05/27 15:07:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7923: 0/1 successful episodes +[05/27 15:07:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7997 (index 89/113) +[05/27 15:07:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7997 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:07:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place brown potato next to bronze female statue +[2026-05-27 15:08:55,674] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:09:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:23:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 7997 episode 0 object Irishpotato_121f03310f70f545adbe1151e4ea4b7f_1_0_6 completed with success=False +[05/27 15:23:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7997: 1 episodes +[05/27 15:23:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:23:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:23:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7997 +[05/27 15:23:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7997 in 2.60s (batch: 2.51s, save: 0.09s) +[05/27 15:23:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7997 +[05/27 15:23:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7997: 0/1 successful episodes +[05/27 15:23:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8098 (index 90/113) +[05/27 15:23:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8098 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:23:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 15:23:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_6 in scene +Goal: place card with pink bow next to red mechanical glove with blades +[2026-05-27 15:24:27,857] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:25:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:34:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8098 episode 0 object objadecorativecard_65c3c59dcda94798b4f95a1817325f33_1_0_7 completed with success=False +[05/27 15:34:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8098: 1 episodes +[05/27 15:34:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:34:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:34:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8098 +[05/27 15:34:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8098 in 2.61s (batch: 2.52s, save: 0.09s) +[05/27 15:34:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8098 +[05/27 15:34:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8098: 0/1 successful episodes +[05/27 15:34:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8183 (index 91/113) +[05/27 15:34:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8183 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:34:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place gray cooking pot next to brown bread +[2026-05-27 15:35:21,386] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:35:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 8183 episode 0 object pot_b37a4855fab8cf0217449f68b5c47ef4_1_0_2 completed with success=False +[05/27 15:43:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8183: 1 episodes +[05/27 15:43:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:43:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:43:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8183 +[05/27 15:43:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8183 in 2.53s (batch: 2.44s, save: 0.09s) +[05/27 15:43:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8183 +[05/27 15:43:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8183: 0/1 successful episodes +[05/27 15:43:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8247 (index 92/113) +[05/27 15:43:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 15:43:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 15:43:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_5 in scene +[05/27 15:43:57 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +Goal: place gnome with red hat next to glossy blue vase +[2026-05-27 15:45:02,109] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:04:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 8247 episode 0 object objagardengnome_581405b5a63b40aba342e1356700e464_1_0_2 completed with success=False +[05/27 16:04:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8247: 1 episodes +[05/27 16:04:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:04:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:04:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8247 +[05/27 16:04:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8247 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 16:04:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8247 +[05/27 16:04:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8247: 0/1 successful episodes +[05/27 16:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8326 (index 93/113) +[05/27 16:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8326 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +Goal: place wooden house keyholder next to black patterned orb +[2026-05-27 16:06:06,989] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:23:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 8326 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_4 completed with success=False +[05/27 16:23:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8326: 1 episodes +[05/27 16:23:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:23:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:23:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8326 +[05/27 16:23:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8326 in 2.55s (batch: 2.46s, save: 0.09s) +[05/27 16:24:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8326 +[05/27 16:24:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8326: 0/1 successful episodes +[05/27 16:24:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8402 (index 94/113) +[05/27 16:24:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8402 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:24:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 16:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeartifact_b1b4c89f78cf4dbda524100885eab273_1_0_5 in scene +[05/27 16:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place white rectangular switch plate next to small beige clay tablet with engravings +[2026-05-27 16:25:19,150] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:25:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:40:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 8402 episode 0 object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_7 completed with success=False +[05/27 16:40:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8402: 1 episodes +[05/27 16:40:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:40:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:40:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8402 +[05/27 16:40:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8402 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 16:40:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8402 +[05/27 16:40:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8402: 0/1 successful episodes +[05/27 16:40:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8481 (index 95/113) +[05/27 16:40:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:40:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 16:40:49 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 16:40:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place tall golden spike with base next to squirt gun +[2026-05-27 16:41:55,268] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:55:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 8481 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6 completed with success=False +[05/27 16:55:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8481: 1 episodes +[05/27 16:55:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:55:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8481 +[05/27 16:55:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8481 in 2.62s (batch: 2.54s, save: 0.09s) +[05/27 16:55:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8481 +[05/27 16:55:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8481: 0/1 successful episodes +[05/27 16:55:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8562 (index 96/113) +[05/27 16:55:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8562 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 16:55:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place round white garlic bulb with ridges next to medium ripe red tomato with stem +[2026-05-27 16:57:16,302] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:57:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:07:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 8562 episode 0 object objagarlic_c7db153e97a94acdbd45824ca668497a_1_0_6 completed with success=False +[05/27 17:07:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8562: 1 episodes +[05/27 17:07:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:07:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:07:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8562 +[05/27 17:07:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8562 in 2.53s (batch: 2.44s, save: 0.09s) +[05/27 17:07:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8562 +[05/27 17:07:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8562: 0/1 successful episodes +[05/27 17:07:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8689 (index 97/113) +[05/27 17:07:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8689 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:07:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 17:07:46 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene +[05/27 17:07:46 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 in scene +Goal: place white paint roller next to olive scalloped ceramic plate +[2026-05-27 17:08:48,443] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:09:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:27:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 8689 episode 0 object objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_2 completed with success=False +[05/27 17:27:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8689: 1 episodes +[05/27 17:27:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:27:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:27:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8689 +[05/27 17:27:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8689 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 17:27:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8689 +[05/27 17:27:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8689: 0/1 successful episodes +[05/27 17:27:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8767 (index 98/113) +[05/27 17:27:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:27:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 17:27:35 Worker 0 WARNING object_manager.py:1238] Could not find object statue_904dcacd60264237fc6f100aa873b50d_1_0_9 in scene +Goal: place rusty metal megaphone with handle next to rusty can +[2026-05-27 17:28:40,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:29:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:43:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 8767 episode 0 object objamegaphone_65c06bc119a6426ea49dc2844e6a0044_1_0_6 completed with success=False +[05/27 17:43:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8767: 1 episodes +[05/27 17:43:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:43:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:43:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8767 +[05/27 17:43:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8767 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 17:43:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8767 +[05/27 17:43:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8767: 0/1 successful episodes +[05/27 17:43:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8857 (index 99/113) +[05/27 17:43:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:43:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/27 17:43:44 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +Goal: place black visor cap with colorful letters next to bear trap +[2026-05-27 17:44:48,161] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:47:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 8857 episode 0 object objavisorcap_aeb789836f494b2a9ca94b97d0fef8dc_1_0_6 completed with success=False +[05/27 17:47:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8857: 1 episodes +[05/27 17:47:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:47:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:47:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8857 +[05/27 17:47:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8857 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 17:47:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8857 +[05/27 17:47:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8857: 0/1 successful episodes +[05/27 17:47:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8922 (index 100/113) +[05/27 17:47:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8922 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 17:47:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 17:47:34 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/27 17:47:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_5a83321dfc4d4f60be6cb300826a248b_1_0_5 in scene +Goal: place gray sports shoe with black swoosh next to small beige clay tablet with engravings +[2026-05-27 17:48:37,894] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:49:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:00:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 8922 episode 0 object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_2_0_5 completed with success=False +[05/27 18:00:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8922: 1 episodes +[05/27 18:00:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:00:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:00:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8922 +[05/27 18:00:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8922 in 2.51s (batch: 2.43s, save: 0.09s) +[05/27 18:00:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8922 +[05/27 18:00:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8922: 0/1 successful episodes +[05/27 18:00:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8993 (index 101/113) +[05/27 18:00:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:00:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place pale bone with small triangular teeth next to green bronze mask with cutouts +[2026-05-27 18:01:37,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:07:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 8993 episode 0 object objabone_8c1d6040fd2f490981bf87dd4bcb636c_1_0_2 completed with success=False +[05/27 18:07:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8993: 1 episodes +[05/27 18:07:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:07:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:07:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8993 +[05/27 18:07:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8993 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 18:07:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8993 +[05/27 18:07:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8993: 0/1 successful episodes +[05/27 18:07:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9054 (index 102/113) +[05/27 18:07:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9054 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:07:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place metal spring next to green insect head +[2026-05-27 18:08:41,434] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:09:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:24:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 9054 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_6 completed with success=False +[05/27 18:24:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9054: 1 episodes +[05/27 18:24:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:24:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:24:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9054 +[05/27 18:24:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9054 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 18:24:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9054 +[05/27 18:24:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9054: 0/1 successful episodes +[05/27 18:24:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9112 (index 103/113) +[05/27 18:24:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9112 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:24:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 18:24:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 18:24:33 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_221bd4f07cb4337aa672d00523ed9982_1_0_6 in scene +[05/27 18:24:33 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_6 in scene +Goal: place pink orchid branch next to spray bottle +[2026-05-27 18:25:37,681] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:40:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 9112 episode 0 object objaflower_bb02fbe0066d40a2a5429a02735c0ef6_1_0_9 completed with success=False +[05/27 18:40:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9112: 1 episodes +[05/27 18:40:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:40:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:40:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9112 +[05/27 18:40:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9112 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 18:40:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9112 +[05/27 18:40:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9112: 0/1 successful episodes +[05/27 18:40:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9173 (index 104/113) +[05/27 18:40:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9173 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:40:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 18:40:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_3 in scene +[05/27 18:40:19 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 in scene +Goal: place measuring device next to small beige clay tablet with engravings +[2026-05-27 18:41:24,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:41:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:53:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 9173 episode 0 object objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_3 completed with success=False +[05/27 18:53:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9173: 1 episodes +[05/27 18:53:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:53:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:53:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9173 +[05/27 18:53:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9173 in 2.77s (batch: 2.67s, save: 0.10s) +[05/27 18:53:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9173 +[05/27 18:53:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9173: 0/1 successful episodes +[05/27 18:53:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9279 (index 105/113) +[05/27 18:53:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9279 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 18:53:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place motion-picture camera next to sleek dark portable laptop with keyboard +[2026-05-27 18:54:54,499] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:55:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:04:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 9279 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2 completed with success=False +[05/27 19:04:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9279: 1 episodes +[05/27 19:04:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:04:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:04:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9279 +[05/27 19:04:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9279 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 19:04:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9279 +[05/27 19:04:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9279: 0/1 successful episodes +[05/27 19:04:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9343 (index 106/113) +[05/27 19:04:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9343 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place conical purple sweet potato with texture next to large deep red ripe tomato +[2026-05-27 19:06:02,820] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:17:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 9343 episode 0 object objavegetable_3ea7a361c376454aa22ce6c30e905e13_1_0_8 completed with success=False +[05/27 19:17:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9343: 1 episodes +[05/27 19:17:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:17:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:17:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9343 +[05/27 19:17:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9343 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 19:17:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9343 +[05/27 19:17:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9343: 0/1 successful episodes +[05/27 19:17:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9476 (index 107/113) +[05/27 19:17:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9476 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:17:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place white candle holder next to green military helicopter +[2026-05-27 19:19:03,308] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:19:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:26:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9476 episode 0 object objacandlestickholder_7961a71d5af04bcea18476847c200c00_1_0_3 completed with success=False +[05/27 19:26:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9476: 1 episodes +[05/27 19:26:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:26:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:26:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9476 +[05/27 19:26:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9476 in 2.66s (batch: 2.56s, save: 0.10s) +[05/27 19:26:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9476 +[05/27 19:26:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9476: 0/1 successful episodes +[05/27 19:26:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9522 (index 108/113) +[05/27 19:26:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9522 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:26:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place triangular pale stone next to pineapple with crown +[2026-05-27 19:28:01,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:28:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:40:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 9522 episode 0 object objastonetoolreplica_a5eac68b8d9145d4a4674a3437c700ce_1_0_6 completed with success=False +[05/27 19:40:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9522: 1 episodes +[05/27 19:40:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:40:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:40:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9522 +[05/27 19:40:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9522 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 19:40:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9522 +[05/27 19:40:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9522: 0/1 successful episodes +[05/27 19:40:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9603 (index 109/113) +[05/27 19:40:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9603 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:40:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place circular disc with colorful front design next to detailed model of horse skull +[2026-05-27 19:41:47,711] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:59:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9603 episode 0 object objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_7 completed with success=False +[05/27 19:59:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9603: 1 episodes +[05/27 19:59:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:59:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:59:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9603 +[05/27 19:59:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9603 in 2.58s (batch: 2.49s, save: 0.10s) +[05/27 19:59:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9603 +[05/27 19:59:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9603: 0/1 successful episodes +[05/27 19:59:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9662 (index 110/113) +[05/27 19:59:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 19:59:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place black spray can next to green mossy strip with jagged edges +[2026-05-27 20:00:42,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:01:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:07:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9662 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2 completed with success=False +[05/27 20:07:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9662: 1 episodes +[05/27 20:07:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:07:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:07:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9662 +[05/27 20:07:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9662 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 20:07:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9662 +[05/27 20:07:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9662: 0/1 successful episodes +[05/27 20:07:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9764 (index 111/113) +[05/27 20:07:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 20:07:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place green armored character card with text next to white and gray modern smart speaker +[2026-05-27 20:08:41,257] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:15:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 9764 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_3 completed with success=False +[05/27 20:15:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9764: 1 episodes +[05/27 20:15:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:15:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:15:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9764 +[05/27 20:15:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9764 in 2.52s (batch: 2.42s, save: 0.09s) +[05/27 20:15:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9764 +[05/27 20:15:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9764: 0/1 successful episodes +[05/27 20:15:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9915 (index 112/113) +[05/27 20:15:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 +[05/27 20:15:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place rectangular green tissue box with tissues next to pink cellphone +[2026-05-27 20:17:30,344] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:18:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:22:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 9915 episode 0 object objatissuebox_2bd98e8ea09f49bd85453a927011d31d_2_0_2 completed with success=False +[05/27 20:22:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9915: 1 episodes +[05/27 20:22:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:22:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:22:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9915 +[05/27 20:22:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9915 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 20:22:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9915 +[05/27 20:22:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9915: 0/1 successful episodes +[05/27 20:22:41 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 20:22:41 INFO pipeline.py:1496] Completed 113 houses, skipped 0 houses +[05/27 20:22:41 INFO pipeline.py:1499] Success count: 2, Total count: 117 +[05/27 20:22:41 INFO pipeline.py:1500] Success rate: 1.71% +Combined 117 episodes from 113 files → /tmp/tmpe9_ac7oe.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv at-end: 1.71% | oracle: 1.71% of 117 episodes +[2026-05-27 20:22:55,435] INFO MolmoSpaces simulator eval finished: success=2/117 rate=0.0171 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval +[2026-05-27 20:22:55,435] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db4bc08eb5db0c75e4fcd4beaf2830b44d82617f --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..6cc5175f7d7399e2e820793df8bd2fcb06066adf --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/results.csv @@ -0,0 +1,114 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.241905,0.0 +latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.172868,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.476721,0.0 +latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,129.144133,0.0 +latest,Objaanimalsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.245989,0.0 +latest,Objabarcodescanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.490091,0.0 +latest,Objabeltbuckle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.416051,0.0 +latest,Objabomb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.743636,0.0 +latest,Objabone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.017309,0.0 +latest,Objaboot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.708242,0.0 +latest,Objacamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,160.554892,0.0 +latest,Objacandlestickholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.357501,0.0 +latest,Objacassetteplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.074884,0.0 +latest,Objaceramiccat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.421046,0.0 +latest,Objaceramicjug,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,33.349164,0.0 +latest,Objaceramiclid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.092916,0.0 +latest,Objaceramicvessel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.126939,0.0 +latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.9677,0.0 +latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.888566,0.0 +latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.262391,0.0 +latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.597517,0.0 +latest,Objaconcealedhinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.821918,0.0 +latest,Objaconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.076868,0.0 +latest,Objacornermolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.007789,0.0 +latest,Objacrown,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.308981,0.0 +latest,Objadecorativebell,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.124584,11.78064 +latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.883781,0.0 +latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.404085,0.0 +latest,Objadecorativefish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,69.194065,0.0 +latest,Objadecorativenameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.356775,0.0 +latest,Objadecorativereplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.259742,0.0 +latest,Objadecorativestrip,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.836644,0.0 +latest,Objadecorativetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.130253,0.0 +latest,Objadecorativewedge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.239805,0.0 +latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.027271,0.0 +latest,Objadigitalradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.689482,0.0 +latest,Objadraftingcompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.869052,0.0 +latest,Objaeducationaltoy,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,34.081786,12.793365 +latest,Objafilmcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.69866,0.0 +latest,Objaflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.865625,0.0 +latest,Objafuturisticdisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.696554,0.0 +latest,Objagamingmouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.862129,0.0 +latest,Objagardengnome,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,37.226605,1.31339 +latest,Objagardenhosenozzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.937735,0.0 +latest,Objagarlic,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.323631,0.0 +latest,Objagarlicbulb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.342947,0.0 +latest,Objagastorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.045723,0.0 +latest,Objagavel,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,78.167837,50.934222 +latest,Objagemstone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.654855,0.0 +latest,Objageologicalspecimen,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.215621,0.0 +latest,Objagingerroot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.406002,0.0 +latest,Objaglove,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.618043,0.0 +latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.387382,0.0 +latest,Objahandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.818404,0.0 +latest,Objaheadpiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.967566,0.0 +latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.950803,0.0 +latest,Objakeychainholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.694927,0.0 +latest,Objakeyholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.399247,0.0 +latest,Objakylix,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.905875,0.0 +latest,Objalighthouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.227568,0.0 +latest,Objalightswitchcoverplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.334524,0.0 +latest,Objamegaphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.438371,0.0 +latest,Objametalrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,120.879275,0.0 +latest,Objamobilephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.096803,0.0 +latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.986921,0.0 +latest,Objamold,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.769433,0.0 +latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.384084,0.0 +latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.997469,0.0 +latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.472612,0.0 +latest,Objaoilcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.948498,0.0 +latest,Objapacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.214083,0.0 +latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,78.773444,0.0 +latest,Objapapercup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.966733,0.0 +latest,Objapastry,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.663908,0.0 +latest,Objapencilcase,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,47.475016,15.075075 +latest,Objapineapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.491923,0.0 +latest,Objaplasticcup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.222361,0.0 +latest,Objapliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.255145,0.0 +latest,Objapopupcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.901181,0.0 +latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.50514,0.0 +latest,Objapuzzletoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.84765,0.0 +latest,Objareplicabone,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,19.591968,0.0 +latest,Objascissors,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,79.343935,0.0 +latest,Objasignage,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.288103,8.69206 +latest,Objasmartspeaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.561748,0.0 +latest,Objasnackpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.451623,0.0 +latest,Objaspatula,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.122007,0.0 +latest,Objaspike,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,67.945844,42.604601 +latest,Objasportsshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.118138,0.0 +latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.606182,0.0 +latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.129635,0.0 +latest,Objastick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.916169,0.0 +latest,Objastonecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.426503,0.0 +latest,Objastonehammer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.849799,0.0 +latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.025241,0.0 +latest,Objastonetoolreplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.708831,0.0 +latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.883437,0.0 +latest,Objatapedispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.639682,0.0 +latest,Objatissuebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.732401,0.0 +latest,Objatoysoldier,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.300159,0.0 +latest,Objatradingcard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.503162,0.386498 +latest,Objatray,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.034727,0.0 +latest,Objavegetable,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.207684,0.0 +latest,Objavisorcap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.716056,0.0 +latest,Objaweight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.148439,0.0 +latest,Objawoodentool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.66877,0.0 +latest,Objayoyo,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.895991,0.0 +latest,Pot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.332986,0.0 +latest,OVERALL,2,117,1.71,0.53,5.99,2,1.71,0.53,5.99,42.137939,27.521359 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..26feabdccad0e87a1bd835938e748993d15ed65e --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/shard_03_results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/shard_03_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..6cc5175f7d7399e2e820793df8bd2fcb06066adf --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/shard_03_results.csv @@ -0,0 +1,114 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.241905,0.0 +latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.172868,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.476721,0.0 +latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,129.144133,0.0 +latest,Objaanimalsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.245989,0.0 +latest,Objabarcodescanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.490091,0.0 +latest,Objabeltbuckle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.416051,0.0 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+latest,Objalighthouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.227568,0.0 +latest,Objalightswitchcoverplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.334524,0.0 +latest,Objamegaphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.438371,0.0 +latest,Objametalrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,120.879275,0.0 +latest,Objamobilephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.096803,0.0 +latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.986921,0.0 +latest,Objamold,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.769433,0.0 +latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.384084,0.0 +latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.997469,0.0 +latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.472612,0.0 +latest,Objaoilcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.948498,0.0 +latest,Objapacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.214083,0.0 +latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,78.773444,0.0 +latest,Objapapercup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.966733,0.0 +latest,Objapastry,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.663908,0.0 +latest,Objapencilcase,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,47.475016,15.075075 +latest,Objapineapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.491923,0.0 +latest,Objaplasticcup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.222361,0.0 +latest,Objapliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.255145,0.0 +latest,Objapopupcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.901181,0.0 +latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.50514,0.0 +latest,Objapuzzletoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.84765,0.0 +latest,Objareplicabone,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,19.591968,0.0 +latest,Objascissors,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,79.343935,0.0 +latest,Objasignage,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.288103,8.69206 +latest,Objasmartspeaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.561748,0.0 +latest,Objasnackpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.451623,0.0 +latest,Objaspatula,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.122007,0.0 +latest,Objaspike,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,67.945844,42.604601 +latest,Objasportsshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.118138,0.0 +latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.606182,0.0 +latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.129635,0.0 +latest,Objastick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.916169,0.0 +latest,Objastonecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.426503,0.0 +latest,Objastonehammer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.849799,0.0 +latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.025241,0.0 +latest,Objastonetoolreplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.708831,0.0 +latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.883437,0.0 +latest,Objatapedispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.639682,0.0 +latest,Objatissuebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.732401,0.0 +latest,Objatoysoldier,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.300159,0.0 +latest,Objatradingcard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.503162,0.386498 +latest,Objatray,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.034727,0.0 +latest,Objavegetable,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.207684,0.0 +latest,Objavisorcap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.716056,0.0 +latest,Objaweight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.148439,0.0 +latest,Objawoodentool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.66877,0.0 +latest,Objayoyo,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.895991,0.0 +latest,Pot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.332986,0.0 +latest,OVERALL,2,117,1.71,0.53,5.99,2,1.71,0.53,5.99,42.137939,27.521359 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/submission_manifest.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..d855a1cb0c76f0aa5875b47b2d2798360268a862 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_03/submission/submission_manifest.json @@ -0,0 +1,159 @@ +{ + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_03", + "results_csv": "results.csv", + "summary_json": "summary.json", + "episode_results_jsonl": "episode_results.jsonl", + "eval_meta_json": "eval_meta.json", + "eval_log": "eval.log", + "metrics_mean": { + "success_rate": 0.017094017094017096, + "success_count": 2.0, + "total_episodes": 117.0, + "avg_episode_length": 443.94871794871796, + "oracle_done_rate": 0.017094017094017096, + "success_rate_pct": 1.71, + "oracle_rate_pct": 1.71 + }, + "stats": { + "total_episodes": 117, + "success_count": 2, + "failure_count": 115, + "success_rate": 0.017094017094017096, + "avg_episode_length": 443.94871794871796, + "min_episode_length": 44, + "max_episode_length": 449, + "num_houses": 113, + "house_success_rates": { + "house_1015": 0.0, + "house_1113": 0.0, + "house_1140": 0.0, + "house_1208": 0.0, + "house_1280": 0.0, + "house_1351": 1.0, + "house_1426": 0.0, + "house_1572": 0.0, + "house_1695": 0.0, + "house_1749": 0.0, + "house_1828": 0.0, + "house_1930": 0.0, + "house_2032": 0.0, + "house_2109": 0.0, + "house_2232": 0.0, + "house_2342": 0.0, + "house_2458": 0.0, + "house_2498": 0.0, + "house_2634": 0.0, + "house_2767": 0.0, + "house_2843": 0.0, + "house_2922": 0.0, + "house_3043": 0.0, + "house_3148": 0.0, + "house_3239": 0.0, + "house_3283": 0.0, + "house_3368": 0.0, + "house_3416": 0.0, + "house_3514": 0.0, + "house_3588": 0.0, + "house_3718": 0.0, + "house_3759": 0.0, + "house_3900": 0.0, + "house_3991": 0.0, + 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0000000000000000000000000000000000000000..98d96d4c1d6d3e25f3de1c50c810f61f1fb030de --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log @@ -0,0 +1,505 @@ +05/26 12:05:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 12:05:16 INFO: Starting house-by-house rollout of 121 houses with 2 episodes each (242 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 12:05:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 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'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 32 (index 0/121) [pipeline.py: 473] +05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 32 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 12:05:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_32_ceiling.xml [task_sampler.py: 797] +05/26 12:05:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:05:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:05:35 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/26 12:05:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:05:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:05:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:05:36 INFO: [Worker 0] Sampled task 'Pick up the black night goggles and place it next to the pillow' [task_sampler.py: 1136] +05/26 12:05:36 INFO: [Worker 0] Worker 0 house 32 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:05:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 12:47:47 INFO: [Worker 0] Worker 0 house 32 episode 0 object objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 12:47:56 INFO: [Worker 0] Batching and saving trajectory data for house_32: 1 episodes [pipeline.py: 233] +05/26 12:47:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 12:48:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 12:48:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_32 [save_utils.py: 703] +05/26 12:48:02 INFO: [Worker 0] Successfully saved trajectory data for house_32 in 6.05s (batch: 5.87s, save: 0.18s) [pipeline.py: 280] +05/26 12:48:03 WARNING: [Worker 0] No trajectory data to save for house_32 [pipeline.py: 229] +05/26 12:48:03 INFO: [Worker 0] Worker 0 completed house 32: 0/1 successful episodes [pipeline.py: 1243] +05/26 12:48:03 INFO: [Worker 0] Worker 0 starting house 61 (index 1/121) [pipeline.py: 473] +05/26 12:48:03 INFO: [Worker 0] Loaded 1 episodes for house 61 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 12:48:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:48:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_61_ceiling.xml [task_sampler.py: 797] +05/26 12:48:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=61, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:48:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:48:27 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/26 12:48:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:48:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:48:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:48:27 INFO: [Worker 0] Sampled task 'Pick up the dark metallic vintage binoculars and place it next to the yellow wooden pencil with pink eraser' [task_sampler.py: 1136] +05/26 12:48:27 INFO: [Worker 0] Worker 0 house 61 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:48:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 12:48:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 14:25:00 INFO: [Worker 0] Worker 0 house 61 episode 0 object objaoperaglasses_637596372c664172915f87d42c73b3f6_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 14:25:07 INFO: [Worker 0] Batching and saving trajectory data for house_61: 1 episodes [pipeline.py: 233] +05/26 14:25:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 14:25:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 14:25:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_61 [save_utils.py: 703] +05/26 14:25:17 INFO: [Worker 0] Successfully saved trajectory data for house_61 in 9.54s (batch: 9.28s, save: 0.26s) [pipeline.py: 280] +05/26 14:25:19 WARNING: [Worker 0] No trajectory data to save for house_61 [pipeline.py: 229] +05/26 14:25:19 INFO: [Worker 0] Worker 0 completed house 61: 0/1 successful episodes [pipeline.py: 1243] +05/26 14:25:19 INFO: [Worker 0] Worker 0 starting house 197 (index 2/121) [pipeline.py: 473] +05/26 14:25:19 INFO: [Worker 0] Loaded 1 episodes for house 197 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 14:25:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 14:25:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_197_ceiling.xml [task_sampler.py: 797] +05/26 14:25:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=197, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 14:25:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 14:25:23 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects [json_eval_task_sampler.py: 686] +05/26 14:25:23 WARNING: [Worker 0] Not setting joint of [json_eval_task_sampler.py: 441] +05/26 14:25:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 14:25:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 14:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 14:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 14:25:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 14:25:23 INFO: [Worker 0] Sampled task 'Pick up the dark gray laptop with large screen and place it next to the white ball with text' [task_sampler.py: 1136] +05/26 14:25:23 INFO: [Worker 0] Worker 0 house 197 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 14:25:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 14:25:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 14:48:01 INFO: [Worker 0] Worker 0 house 197 episode 0 object laptop_5ffa33a3308c6355c2dd6972f3f5c950_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 14:48:09 INFO: [Worker 0] Batching and saving trajectory data for house_197: 1 episodes [pipeline.py: 233] +05/26 14:48:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 14:48:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 14:48:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_197 [save_utils.py: 703] +05/26 14:48:13 INFO: [Worker 0] Successfully saved trajectory data for house_197 in 4.17s (batch: 3.99s, save: 0.18s) [pipeline.py: 280] +05/26 14:48:14 WARNING: [Worker 0] No trajectory data to save for house_197 [pipeline.py: 229] +05/26 14:48:14 INFO: [Worker 0] Worker 0 completed house 197: 0/1 successful episodes [pipeline.py: 1243] +05/26 14:48:14 INFO: [Worker 0] Worker 0 starting house 323 (index 3/121) [pipeline.py: 473] +05/26 14:48:14 INFO: [Worker 0] Loaded 1 episodes for house 323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 14:48:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 14:48:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_323_ceiling.xml [task_sampler.py: 797] +05/26 14:48:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=323, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 14:48:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 14:48:19 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/26 14:48:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 14:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 14:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 14:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 14:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 14:48:19 INFO: [Worker 0] Sampled task 'Pick up the terracotta pot with seedling and place it next to the translucent ergonomic spray bottle' [task_sampler.py: 1136] +05/26 14:48:19 INFO: [Worker 0] Worker 0 house 323 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 14:48:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 14:53:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 15:30:53 INFO: [Worker 0] Worker 0 house 323 episode 0 object objaplantpot_51030882447e428a8efec83649ee3172_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 15:31:02 INFO: [Worker 0] Batching and saving trajectory data for house_323: 1 episodes [pipeline.py: 233] +05/26 15:31:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 15:31:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 15:31:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_323 [save_utils.py: 703] +05/26 15:31:10 INFO: [Worker 0] Successfully saved trajectory data for house_323 in 8.27s (batch: 7.90s, save: 0.37s) [pipeline.py: 280] +05/26 15:31:12 WARNING: [Worker 0] No trajectory data to save for house_323 [pipeline.py: 229] +05/26 15:31:12 INFO: [Worker 0] Worker 0 completed house 323: 0/1 successful episodes [pipeline.py: 1243] +05/26 15:31:12 INFO: [Worker 0] Worker 0 starting house 426 (index 4/121) [pipeline.py: 473] +05/26 15:31:12 INFO: [Worker 0] Loaded 1 episodes for house 426 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 15:31:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 15:31:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_426_ceiling.xml [task_sampler.py: 797] +05/26 15:31:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=426, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 15:31:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 15:31:25 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/26 15:31:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 15:31:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 15:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 15:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 15:31:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 15:31:25 INFO: [Worker 0] Sampled task 'Pick up the golden warrior statue with ornate armor and place it next to the white vase' [task_sampler.py: 1136] +05/26 15:31:25 INFO: [Worker 0] Worker 0 house 426 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 15:31:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 15:37:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 16:24:14 INFO: [Worker 0] Worker 0 house 426 episode 0 object objastatue_8c6fcf525c9e4cc193247ffa8103b0ba_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 16:24:22 INFO: [Worker 0] Batching and saving trajectory data for house_426: 1 episodes [pipeline.py: 233] +05/26 16:24:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 16:24:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 16:24:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_426 [save_utils.py: 703] +05/26 16:24:27 INFO: [Worker 0] Successfully saved trajectory data for house_426 in 5.16s (batch: 4.81s, save: 0.35s) [pipeline.py: 280] +05/26 16:24:29 WARNING: [Worker 0] No trajectory data to save for house_426 [pipeline.py: 229] +05/26 16:24:29 INFO: [Worker 0] Worker 0 completed house 426: 0/1 successful episodes [pipeline.py: 1243] +05/26 16:24:29 INFO: [Worker 0] Worker 0 starting house 500 (index 5/121) [pipeline.py: 473] +05/26 16:24:29 INFO: [Worker 0] Loaded 1 episodes for house 500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 16:24:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 16:24:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_500_ceiling.xml [task_sampler.py: 797] +05/26 16:24:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=500, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 16:24:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 16:24:44 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/26 16:24:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 16:24:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 16:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 16:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 16:24:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 16:24:44 INFO: [Worker 0] Sampled task 'Pick up the white ceramic vase with subtle ridges and place it next to the blue toaster appliance' [task_sampler.py: 1136] +05/26 16:24:44 INFO: [Worker 0] Worker 0 house 500 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 16:24:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 16:30:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 17:36:24 INFO: [Worker 0] Worker 0 house 500 episode 0 object vase_c8834aef9cc9a4598baadc1d2562b549_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 17:36:33 INFO: [Worker 0] Batching and saving trajectory data for house_500: 1 episodes [pipeline.py: 233] +05/26 17:36:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 17:36:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 17:36:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_500 [save_utils.py: 703] +05/26 17:36:41 INFO: [Worker 0] Successfully saved trajectory data for house_500 in 8.40s (batch: 7.93s, save: 0.47s) [pipeline.py: 280] +05/26 17:36:44 WARNING: [Worker 0] No trajectory data to save for house_500 [pipeline.py: 229] +05/26 17:36:44 INFO: [Worker 0] Worker 0 completed house 500: 0/1 successful episodes [pipeline.py: 1243] +05/26 17:36:44 INFO: [Worker 0] Worker 0 starting house 566 (index 6/121) [pipeline.py: 473] +05/26 17:36:44 INFO: [Worker 0] Loaded 1 episodes for house 566 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 17:36:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 17:37:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_566_ceiling.xml [task_sampler.py: 797] +05/26 17:37:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=566, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 17:37:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 17:37:11 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/26 17:37:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 17:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 17:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 17:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 17:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 17:37:11 INFO: [Worker 0] Sampled task 'Pick up the colorful toy green dinosaur and place it next to the glossy white bowl' [task_sampler.py: 1136] +05/26 17:37:11 INFO: [Worker 0] Worker 0 house 566 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 17:37:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 17:37:11 WARNING: [Worker 0] Could not find object objagardenshears_1d4fe5065cf7492b81c3968832e233e9_1_0_2 in scene [object_manager.py: 1238] +05/26 17:37:11 WARNING: [Worker 0] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_2 in scene [object_manager.py: 1238] +05/26 17:37:11 WARNING: [Worker 0] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_9 in scene [object_manager.py: 1238] +05/26 17:37:11 WARNING: [Worker 0] Could not find object objadecorativekey_eaf2652babd44115843ad48369184819_1_0_9 in scene [object_manager.py: 1238] +05/26 17:37:11 WARNING: [Worker 0] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_9 in scene [object_manager.py: 1238] +05/26 17:42:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 18:57:21 INFO: [Worker 0] Worker 0 house 566 episode 0 object objatoydinosaur_540b8cb4e3244b2197d548b6400c80ee_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 18:57:27 INFO: [Worker 0] Batching and saving trajectory data for house_566: 1 episodes [pipeline.py: 233] +05/26 18:57:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 18:57:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 18:57:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_566 [save_utils.py: 703] +05/26 18:57:34 INFO: [Worker 0] Successfully saved trajectory data for house_566 in 6.05s (batch: 5.75s, save: 0.30s) [pipeline.py: 280] +05/26 18:57:35 WARNING: [Worker 0] No trajectory data to save for house_566 [pipeline.py: 229] +05/26 18:57:35 INFO: [Worker 0] Worker 0 completed house 566: 0/1 successful episodes [pipeline.py: 1243] +05/26 18:57:35 INFO: [Worker 0] Worker 0 starting house 610 (index 7/121) [pipeline.py: 473] +05/26 18:57:35 INFO: [Worker 0] Loaded 1 episodes for house 610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 18:57:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 18:58:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_610_ceiling.xml [task_sampler.py: 797] +05/26 18:58:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=610, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 18:58:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 18:58:29 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/26 18:58:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 18:58:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 18:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 18:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 18:58:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 18:58:29 INFO: [Worker 0] Sampled task 'Pick up the round dish with handle and pattern and place it next to the brown bread' [task_sampler.py: 1136] +05/26 18:58:29 INFO: [Worker 0] Worker 0 house 610 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 18:58:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 18:58:30 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_6 in scene [object_manager.py: 1238] +05/26 18:58:30 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_2_0_9 in scene [object_manager.py: 1238] +05/26 19:03:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 19:22:52 ERROR: Uncaught exception: [mp_logging.py: 268] +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in + raise SystemExit(main()) + ^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main + results = run_evaluation( + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation + success_count, total_count = runner.run(preloaded_policy=runner_policy) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run + house_processing_worker( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker + runner_class.process_single_house( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout + observation, reward, terminal, truncated, infos = task.step(action_cmd) + ^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step + observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 202, in get_and_cache_all_step_information + success = np.full(terminated.shape, fill_value=self.judge_success()) + ^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 57, in judge_success + return self.get_info()[0]["success"] + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 137, in get_info + p_sup_p = om.approximate_supporting_geoms(pickup_obj.body_id, b2g) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms + bpoly, bz, bt = get_body_box(body) + ^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box + c, e = body_aabb(self.model, self.data, bid) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb + return geom_aabb(model, data, geoms) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb + mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 116, in mesh_aabb + aabb_min = np.min(vertices, axis=0) + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2953, in min + return _wrapreduction(a, np.minimum, 'min', axis, None, out, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 88, in _wrapreduction + return ufunc.reduce(obj, axis, dtype, out, **passkwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +KeyboardInterrupt diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..2d8c4550b30e754eac40395d5d881fbb7b07baa3 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log @@ -0,0 +1,3164 @@ +05/26 19:48:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 19:48:16 INFO: Starting house-by-house rollout of 114 houses with 2 episodes each (228 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 19:48:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 19:48:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [610, + 658, + 721, + 774, + 853, + 923, + 1016, + 1129, + 1215, + 1281, + 1357, + 1421, + 1440, + 1598, + 1698, + 1765, + 1862, + 1937, + 2034, + 2142, + 2245, + 2360, + 2465, + 2502, + 2638, + 2775, + 2853, + 2948, + 3052, + 3190, + 3247, + 3284, + 3373, + 3420, + 3515, + 3626, + 3721, + 3763, + 3908, + 4019, + 4030, + 4132, + 4200, + 4273, + 4320, + 4396, + 4480, + 4584, + 4662, + 4706, + 4774, + 4867, + 4939, + 5038, + 5131, + 5193, + 5319, + 5449, + 5539, + 5599, + 5654, + 5758, + 5880, + 5915, + 6030, + 6072, + 6102, + 6199, + 6252, + 6298, + 6382, + 6438, + 6538, + 6696, + 6758, + 6883, + 6937, + 7012, + 7066, + 7163, + 7272, + 7338, + 7375, + 7448, + 7505, + 7631, + 7748, + 7843, + 7929, + 8008, + 8063, + 8111, + 8216, + 8254, + 8347, + 8407, + 8483, + 8598, + 8693, + 8774, + 8866, + 8925, + 8996, + 9058, + 9140, + 9190, + 9296, + 9398, + 9491, + 9534, + 9605, + 9673, + 9767, + 9928], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 19:48:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 19:48:16 INFO: [Worker 0] Worker 0 starting house 610 (index 0/114) [pipeline.py: 473] +05/26 19:48:16 INFO: [Worker 0] Loaded 1 episodes for house 610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:31 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 19:48:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_610_ceiling.xml [task_sampler.py: 797] +05/26 19:48:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=610, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:48:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:48:35 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/26 19:48:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:48:36 INFO: [Worker 0] Sampled task 'Pick up the round dish with handle and pattern and place it next to the brown bread' [task_sampler.py: 1136] +05/26 19:48:36 INFO: [Worker 0] Worker 0 house 610 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:48:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:48:36 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_6 in scene [object_manager.py: 1238] +05/26 19:48:36 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_2_0_9 in scene [object_manager.py: 1238] +05/26 19:48:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:05:10 INFO: [Worker 0] Worker 0 house 610 episode 0 object objaservingdish_5d58816fa8534b568d8e96cd47a8f413_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 20:05:14 INFO: [Worker 0] Batching and saving trajectory data for house_610: 1 episodes [pipeline.py: 233] +05/26 20:05:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:05:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:05:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_610 [save_utils.py: 703] +05/26 20:05:16 INFO: [Worker 0] Successfully saved trajectory data for house_610 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/26 20:05:17 WARNING: [Worker 0] No trajectory data to save for house_610 [pipeline.py: 229] +05/26 20:05:17 INFO: [Worker 0] Worker 0 completed house 610: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:05:17 INFO: [Worker 0] Worker 0 starting house 658 (index 1/114) [pipeline.py: 473] +05/26 20:05:17 INFO: [Worker 0] Loaded 1 episodes for house 658 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 20:05:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:05:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_658_ceiling.xml [task_sampler.py: 797] +05/26 20:05:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=658, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:05:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:05:35 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/26 20:05:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:05:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:05:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:05:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:05:35 INFO: [Worker 0] Sampled task 'Pick up the blue soldering iron and place it next to the smooth white ceramic serving bowl' [task_sampler.py: 1136] +05/26 20:05:35 INFO: [Worker 0] Worker 0 house 658 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:05:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:05:35 WARNING: [Worker 0] Could not find object objacornermolding_90be9c61b979413b85ab8c572d29fb48_1_0_2 in scene [object_manager.py: 1238] +05/26 20:05:35 WARNING: [Worker 0] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_2 in scene [object_manager.py: 1238] +05/26 20:07:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:18:29 INFO: [Worker 0] Worker 0 house 658 episode 0 object objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 20:18:32 INFO: [Worker 0] Batching and saving trajectory data for house_658: 1 episodes [pipeline.py: 233] +05/26 20:18:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:18:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:18:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_658 [save_utils.py: 703] +05/26 20:18:35 INFO: [Worker 0] Successfully saved trajectory data for house_658 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/26 20:18:35 WARNING: [Worker 0] No trajectory data to save for house_658 [pipeline.py: 229] +05/26 20:18:35 INFO: [Worker 0] Worker 0 completed house 658: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:18:35 INFO: [Worker 0] Worker 0 starting house 721 (index 2/114) [pipeline.py: 473] +05/26 20:18:35 INFO: [Worker 0] Loaded 1 episodes for house 721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 20:18:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:19:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_721_ceiling.xml [task_sampler.py: 797] +05/26 20:19:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=721, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:19:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:19:13 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/26 20:19:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:19:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:19:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:19:13 INFO: [Worker 0] Sampled task 'Pick up the vintage microphone with mesh and place it next to the wide flat greenish-gold vase' [task_sampler.py: 1136] +05/26 20:19:13 INFO: [Worker 0] Worker 0 house 721 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:19:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:19:14 WARNING: [Worker 0] Could not find object objaantlers_20b890af795b4e31b02f7aa6f8830a4c_1_0_2 in scene [object_manager.py: 1238] +05/26 20:19:14 WARNING: [Worker 0] Could not find object cup_8375d1854544e7fff9c778ce52d47800_1_0_2 in scene [object_manager.py: 1238] +05/26 20:26:49 INFO: [Worker 0] Worker 0 house 721 episode 0 object objamicrophone_3d7e9705612d4058982004abc58ffe5d_1_0_6 completed with success=True [pipeline.py: 1114] +05/26 20:26:52 INFO: [Worker 0] Batching and saving trajectory data for house_721: 1 episodes [pipeline.py: 233] +05/26 20:26:52 INFO: [Worker 0] Preparing episode data: 172 timesteps [save_utils.py: 284] +05/26 20:26:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:26:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_721 [save_utils.py: 703] +05/26 20:26:55 INFO: [Worker 0] Successfully saved trajectory data for house_721 in 2.50s (batch: 2.45s, save: 0.05s) [pipeline.py: 280] +05/26 20:26:56 WARNING: [Worker 0] No trajectory data to save for house_721 [pipeline.py: 229] +05/26 20:26:56 INFO: [Worker 0] Worker 0 completed house 721: 1/1 successful episodes [pipeline.py: 1243] +05/26 20:26:56 INFO: [Worker 0] Worker 0 starting house 774 (index 3/114) [pipeline.py: 473] +05/26 20:26:56 INFO: [Worker 0] Loaded 1 episodes for house 774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 20:26:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:27:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_774_ceiling.xml [task_sampler.py: 797] +05/26 20:27:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=774, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:27:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:27:00 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/26 20:27:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:27:00 INFO: [Worker 0] Sampled task 'Pick up the stereo system and place it next to the brown leather football with laces' [task_sampler.py: 1136] +05/26 20:27:00 INFO: [Worker 0] Worker 0 house 774 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:27:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:30:13 INFO: [Worker 0] Worker 0 house 774 episode 0 object objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 20:30:17 INFO: [Worker 0] Batching and saving trajectory data for house_774: 1 episodes [pipeline.py: 233] +05/26 20:30:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:30:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:30:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_774 [save_utils.py: 703] +05/26 20:30:20 INFO: [Worker 0] Successfully saved trajectory data for house_774 in 2.84s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/26 20:30:21 WARNING: [Worker 0] No trajectory data to save for house_774 [pipeline.py: 229] +05/26 20:30:21 INFO: [Worker 0] Worker 0 completed house 774: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:30:21 INFO: [Worker 0] Worker 0 starting house 853 (index 4/114) [pipeline.py: 473] +05/26 20:30:21 INFO: [Worker 0] Loaded 1 episodes for house 853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 20:30:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:30:40 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 20:30:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_853_ceiling.xml [task_sampler.py: 797] +05/26 20:30:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=853, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:30:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:30:45 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/26 20:30:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:30:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:30:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:30:45 INFO: [Worker 0] Sampled task 'Pick up the blue spray bottle with nozzle and place it next to the glossy red tomato with twisting stem' [task_sampler.py: 1136] +05/26 20:30:45 INFO: [Worker 0] Worker 0 house 853 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:30:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:30:45 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 20:32:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:46:18 INFO: [Worker 0] Worker 0 house 853 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 20:46:22 INFO: [Worker 0] Batching and saving trajectory data for house_853: 1 episodes [pipeline.py: 233] +05/26 20:46:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:46:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:46:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_853 [save_utils.py: 703] +05/26 20:46:24 INFO: [Worker 0] Successfully saved trajectory data for house_853 in 2.41s (batch: 2.31s, save: 0.10s) [pipeline.py: 280] +05/26 20:46:25 WARNING: [Worker 0] No trajectory data to save for house_853 [pipeline.py: 229] +05/26 20:46:25 INFO: [Worker 0] Worker 0 completed house 853: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:46:25 INFO: [Worker 0] Worker 0 starting house 923 (index 5/114) [pipeline.py: 473] +05/26 20:46:25 INFO: [Worker 0] Loaded 1 episodes for house 923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 20:46:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:46:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_923_ceiling.xml [task_sampler.py: 797] +05/26 20:46:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=923, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:46:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:46:50 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/26 20:46:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:46:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:46:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:46:50 INFO: [Worker 0] Sampled task 'Pick up the orange wand and place it next to the vintage metal lever on dark wooden base' [task_sampler.py: 1136] +05/26 20:46:50 INFO: [Worker 0] Worker 0 house 923 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:46:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:48:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:59:11 INFO: [Worker 0] Worker 0 house 923 episode 0 object objawand_ea36b5fb4fc94e37bde2db99384a1cc6_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 20:59:15 INFO: [Worker 0] Batching and saving trajectory data for house_923: 1 episodes [pipeline.py: 233] +05/26 20:59:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:59:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:59:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_923 [save_utils.py: 703] +05/26 20:59:17 INFO: [Worker 0] Successfully saved trajectory data for house_923 in 2.37s (batch: 2.28s, save: 0.09s) [pipeline.py: 280] +05/26 20:59:17 WARNING: [Worker 0] No trajectory data to save for house_923 [pipeline.py: 229] +05/26 20:59:17 INFO: [Worker 0] Worker 0 completed house 923: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:59:17 INFO: [Worker 0] Worker 0 starting house 1016 (index 6/114) [pipeline.py: 473] +05/26 20:59:17 INFO: [Worker 0] Loaded 1 episodes for house 1016 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 20:59:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:59:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1016_ceiling.xml [task_sampler.py: 797] +05/26 20:59:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1016, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:59:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:59:20 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/26 20:59:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:59:20 INFO: [Worker 0] Sampled task 'Pick up the gray stone arrowhead with sharp edges and place it next to the small shiny gold dog statue' [task_sampler.py: 1136] +05/26 20:59:20 INFO: [Worker 0] Worker 0 house 1016 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:59:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:10:46 INFO: [Worker 0] Worker 0 house 1016 episode 0 object objaarrowhead_e4a837393e164540b04973adf53c10ed_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 21:10:50 INFO: [Worker 0] Batching and saving trajectory data for house_1016: 1 episodes [pipeline.py: 233] +05/26 21:10:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:10:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:10:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1016 [save_utils.py: 703] +05/26 21:10:52 INFO: [Worker 0] Successfully saved trajectory data for house_1016 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/26 21:10:53 WARNING: [Worker 0] No trajectory data to save for house_1016 [pipeline.py: 229] +05/26 21:10:53 INFO: [Worker 0] Worker 0 completed house 1016: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:10:53 INFO: [Worker 0] Worker 0 starting house 1129 (index 7/114) [pipeline.py: 473] +05/26 21:10:53 INFO: [Worker 0] Loaded 1 episodes for house 1129 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 21:10:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:11:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1129_ceiling.xml [task_sampler.py: 797] +05/26 21:11:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1129, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:11:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:11:36 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/26 21:11:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:11:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:11:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:11:36 INFO: [Worker 0] Sampled task 'Pick up the sleek glossy curved plastic frame and place it next to the black beanie with green gold pattern' [task_sampler.py: 1136] +05/26 21:11:36 INFO: [Worker 0] Worker 0 house 1129 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:11:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:30:13 INFO: [Worker 0] Worker 0 house 1129 episode 0 object objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 21:30:17 INFO: [Worker 0] Batching and saving trajectory data for house_1129: 1 episodes [pipeline.py: 233] +05/26 21:30:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:30:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:30:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1129 [save_utils.py: 703] +05/26 21:30:20 INFO: [Worker 0] Successfully saved trajectory data for house_1129 in 2.84s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/26 21:30:21 WARNING: [Worker 0] No trajectory data to save for house_1129 [pipeline.py: 229] +05/26 21:30:21 INFO: [Worker 0] Worker 0 completed house 1129: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:30:21 INFO: [Worker 0] Worker 0 starting house 1215 (index 8/114) [pipeline.py: 473] +05/26 21:30:21 INFO: [Worker 0] Loaded 1 episodes for house 1215 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 21:30:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:30:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1215_ceiling.xml [task_sampler.py: 797] +05/26 21:30:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1215, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:30:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:30:45 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/26 21:30:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:30:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:30:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:30:45 INFO: [Worker 0] Sampled task 'Pick up the flat handle and place it next to the purple bottle' [task_sampler.py: 1136] +05/26 21:30:45 INFO: [Worker 0] Worker 0 house 1215 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:30:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:32:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:41:03 INFO: [Worker 0] Worker 0 house 1215 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 21:41:06 INFO: [Worker 0] Batching and saving trajectory data for house_1215: 1 episodes [pipeline.py: 233] +05/26 21:41:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:41:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:41:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1215 [save_utils.py: 703] +05/26 21:41:09 INFO: [Worker 0] Successfully saved trajectory data for house_1215 in 2.38s (batch: 2.29s, save: 0.09s) [pipeline.py: 280] +05/26 21:41:09 WARNING: [Worker 0] No trajectory data to save for house_1215 [pipeline.py: 229] +05/26 21:41:09 INFO: [Worker 0] Worker 0 completed house 1215: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:41:09 INFO: [Worker 0] Worker 0 starting house 1281 (index 9/114) [pipeline.py: 473] +05/26 21:41:09 INFO: [Worker 0] Loaded 1 episodes for house 1281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 21:41:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:41:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1281_ceiling.xml [task_sampler.py: 797] +05/26 21:41:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1281, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:41:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:41:36 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/26 21:41:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:41:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:41:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:41:36 INFO: [Worker 0] Sampled task 'Pick up the olive green hand smoke grenade and place it next to the laptop computer' [task_sampler.py: 1136] +05/26 21:41:36 INFO: [Worker 0] Worker 0 house 1281 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:41:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:43:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:55:03 INFO: [Worker 0] Worker 0 house 1281 episode 0 object objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 21:55:07 INFO: [Worker 0] Batching and saving trajectory data for house_1281: 1 episodes [pipeline.py: 233] +05/26 21:55:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:55:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:55:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1281 [save_utils.py: 703] +05/26 21:55:10 INFO: [Worker 0] Successfully saved trajectory data for house_1281 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/26 21:55:10 WARNING: [Worker 0] No trajectory data to save for house_1281 [pipeline.py: 229] +05/26 21:55:10 INFO: [Worker 0] Worker 0 completed house 1281: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:55:10 INFO: [Worker 0] Worker 0 starting house 1357 (index 10/114) [pipeline.py: 473] +05/26 21:55:10 INFO: [Worker 0] Loaded 1 episodes for house 1357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 21:55:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:55:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1357_ceiling.xml [task_sampler.py: 797] +05/26 21:55:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1357, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:55:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:55:12 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/26 21:55:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:55:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:55:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:55:12 INFO: [Worker 0] Sampled task 'Pick up the black virtual headset and place it next to the yellow device' [task_sampler.py: 1136] +05/26 21:55:12 INFO: [Worker 0] Worker 0 house 1357 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:55:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:55:13 WARNING: [Worker 0] Could not find object lettuce_57e4a337b9ed97d4bd61cbfd9e2bdfde_1_0_2 in scene [object_manager.py: 1238] +05/26 22:02:26 INFO: [Worker 0] Worker 0 house 1357 episode 0 object objavirtualrealityheadset_0d6c1d6aa3f747a5b35f8105ed585418_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 22:02:30 INFO: [Worker 0] Batching and saving trajectory data for house_1357: 1 episodes [pipeline.py: 233] +05/26 22:02:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:02:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:02:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1357 [save_utils.py: 703] +05/26 22:02:32 INFO: [Worker 0] Successfully saved trajectory data for house_1357 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/26 22:02:33 WARNING: [Worker 0] No trajectory data to save for house_1357 [pipeline.py: 229] +05/26 22:02:33 INFO: [Worker 0] Worker 0 completed house 1357: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:02:33 INFO: [Worker 0] Worker 0 starting house 1421 (index 11/114) [pipeline.py: 473] +05/26 22:02:33 INFO: [Worker 0] Loaded 2 episodes for house 1421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 22:02:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:02:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1421_ceiling.xml [task_sampler.py: 797] +05/26 22:02:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1421, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:02:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:02:36 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/26 22:02:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:02:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:02:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:02:36 INFO: [Worker 0] Sampled task 'Pick up the purple flower pot with plant and place it next to the dark gray metal shackle with orange pin' [task_sampler.py: 1136] +05/26 22:02:36 INFO: [Worker 0] Worker 0 house 1421 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 22:02:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:04:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:12:21 INFO: [Worker 0] Worker 0 house 1421 episode 0 object objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 22:12:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:12:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1421_ceiling.xml [task_sampler.py: 797] +05/26 22:12:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1421, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:12:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:12:28 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/26 22:12:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:12:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:12:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:12:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:12:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:12:28 INFO: [Worker 0] Sampled task 'Pick up the dark gray metal shackle and place it next to the soap bottle' [task_sampler.py: 1136] +05/26 22:12:28 INFO: [Worker 0] Worker 0 house 1421 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 22:12:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:14:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:22:07 INFO: [Worker 0] Worker 0 house 1421 episode 1 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 22:22:11 INFO: [Worker 0] Batching and saving trajectory data for house_1421: 2 episodes [pipeline.py: 233] +05/26 22:22:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:22:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:22:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:22:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:22:16 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421 [save_utils.py: 703] +05/26 22:22:16 INFO: [Worker 0] Successfully saved trajectory data for house_1421 in 5.42s (batch: 5.25s, save: 0.17s) [pipeline.py: 280] +05/26 22:22:17 WARNING: [Worker 0] No trajectory data to save for house_1421 [pipeline.py: 229] +05/26 22:22:17 INFO: [Worker 0] Worker 0 completed house 1421: 0/2 successful episodes [pipeline.py: 1243] +05/26 22:22:17 INFO: [Worker 0] Worker 0 starting house 1440 (index 12/114) [pipeline.py: 473] +05/26 22:22:17 INFO: [Worker 0] Loaded 1 episodes for house 1440 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 22:22:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:22:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1440_ceiling.xml [task_sampler.py: 797] +05/26 22:22:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1440, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:22:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:22:33 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/26 22:22:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:22:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:22:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:22:33 INFO: [Worker 0] Sampled task 'Pick up the rustic stone tray and place it next to the medium dark metal cooking pot' [task_sampler.py: 1136] +05/26 22:22:33 INFO: [Worker 0] Worker 0 house 1440 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:22:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:24:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:42:41 INFO: [Worker 0] Worker 0 house 1440 episode 0 object objastonetray_af335dd50e394ba0ab92dd4e4e86954d_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 22:42:45 INFO: [Worker 0] Batching and saving trajectory data for house_1440: 1 episodes [pipeline.py: 233] +05/26 22:42:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:42:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:42:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1440 [save_utils.py: 703] +05/26 22:42:48 INFO: [Worker 0] Successfully saved trajectory data for house_1440 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/26 22:42:48 WARNING: [Worker 0] No trajectory data to save for house_1440 [pipeline.py: 229] +05/26 22:42:48 INFO: [Worker 0] Worker 0 completed house 1440: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:42:48 INFO: [Worker 0] Worker 0 starting house 1598 (index 13/114) [pipeline.py: 473] +05/26 22:42:48 INFO: [Worker 0] Loaded 1 episodes for house 1598 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 22:42:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:43:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1598_ceiling.xml [task_sampler.py: 797] +05/26 22:43:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1598, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:43:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:43:18 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/26 22:43:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:43:18 INFO: [Worker 0] Sampled task 'Pick up the red rectangular box of pasta and place it next to the soap bottle' [task_sampler.py: 1136] +05/26 22:43:18 INFO: [Worker 0] Worker 0 house 1598 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:43:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:43:20 WARNING: [Worker 0] Could not find object objadigitalart_57f9e3d9c75d40c6b5cca76e6b94ccbc_2_0_4 in scene [object_manager.py: 1238] +05/26 22:43:20 WARNING: [Worker 0] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene [object_manager.py: 1238] +05/26 22:43:20 WARNING: [Worker 0] Could not find object objapettag_e7120b712b424f1d9607347cf5c4147b_1_0_8 in scene [object_manager.py: 1238] +05/26 22:44:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:58:48 INFO: [Worker 0] Worker 0 house 1598 episode 0 object objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 22:58:51 INFO: [Worker 0] Batching and saving trajectory data for house_1598: 1 episodes [pipeline.py: 233] +05/26 22:58:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:58:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:58:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1598 [save_utils.py: 703] +05/26 22:58:53 INFO: [Worker 0] Successfully saved trajectory data for house_1598 in 2.37s (batch: 2.28s, save: 0.09s) [pipeline.py: 280] +05/26 22:58:54 WARNING: [Worker 0] No trajectory data to save for house_1598 [pipeline.py: 229] +05/26 22:58:54 INFO: [Worker 0] Worker 0 completed house 1598: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:58:54 INFO: [Worker 0] Worker 0 starting house 1698 (index 14/114) [pipeline.py: 473] +05/26 22:58:54 INFO: [Worker 0] Loaded 1 episodes for house 1698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 22:58:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:59:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1698_ceiling.xml [task_sampler.py: 797] +05/26 22:59:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1698, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:59:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:59:23 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/26 22:59:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:59:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:59:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:59:23 INFO: [Worker 0] Sampled task 'Pick up the compact black night vision scope and place it next to the smart display device' [task_sampler.py: 1136] +05/26 22:59:23 INFO: [Worker 0] Worker 0 house 1698 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:59:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:01:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:17:14 INFO: [Worker 0] Worker 0 house 1698 episode 0 object objanightvisionscope_060a8c828d7a48789fbade22b83a2f15_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 23:17:18 INFO: [Worker 0] Batching and saving trajectory data for house_1698: 1 episodes [pipeline.py: 233] +05/26 23:17:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:17:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:17:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1698 [save_utils.py: 703] +05/26 23:17:21 INFO: [Worker 0] Successfully saved trajectory data for house_1698 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/26 23:17:21 WARNING: [Worker 0] No trajectory data to save for house_1698 [pipeline.py: 229] +05/26 23:17:21 INFO: [Worker 0] Worker 0 completed house 1698: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:17:21 INFO: [Worker 0] Worker 0 starting house 1765 (index 15/114) [pipeline.py: 473] +05/26 23:17:21 INFO: [Worker 0] Loaded 1 episodes for house 1765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 23:17:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:17:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1765_ceiling.xml [task_sampler.py: 797] +05/26 23:17:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1765, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:17:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:17:36 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/26 23:17:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:17:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:17:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:17:36 INFO: [Worker 0] Sampled task 'Pick up the wooden pestle with jagged top and place it next to the blue rounded pot with handles and straps' [task_sampler.py: 1136] +05/26 23:17:36 INFO: [Worker 0] Worker 0 house 1765 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:17:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:17:36 WARNING: [Worker 0] Could not find object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_6 in scene [object_manager.py: 1238] +05/26 23:17:36 WARNING: [Worker 0] Could not find object plate_c15e3f7680e3167e2f8d34f3a4bbadaf_1_0_6 in scene [object_manager.py: 1238] +05/26 23:19:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:28:55 INFO: [Worker 0] Worker 0 house 1765 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 23:28:59 INFO: [Worker 0] Batching and saving trajectory data for house_1765: 1 episodes [pipeline.py: 233] +05/26 23:28:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:29:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:29:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1765 [save_utils.py: 703] +05/26 23:29:02 INFO: [Worker 0] Successfully saved trajectory data for house_1765 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/26 23:29:03 WARNING: [Worker 0] No trajectory data to save for house_1765 [pipeline.py: 229] +05/26 23:29:03 INFO: [Worker 0] Worker 0 completed house 1765: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:29:03 INFO: [Worker 0] Worker 0 starting house 1862 (index 16/114) [pipeline.py: 473] +05/26 23:29:03 INFO: [Worker 0] Loaded 1 episodes for house 1862 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 23:29:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:29:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1862_ceiling.xml [task_sampler.py: 797] +05/26 23:29:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1862, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:29:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:29:06 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/26 23:29:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:29:06 INFO: [Worker 0] Sampled task 'Pick up the blue bifold wallet with brown interior and place it next to the soap dispenser' [task_sampler.py: 1136] +05/26 23:29:06 INFO: [Worker 0] Worker 0 house 1862 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:29:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:29:06 WARNING: [Worker 0] Could not find object objatube_0f7ec1dcb01d4943972e3a9168f52e8e_1_0_5 in scene [object_manager.py: 1238] +05/26 23:29:06 WARNING: [Worker 0] Could not find object objalantern_8f07a87f281343009ff480f8d7e5db83_1_0_9 in scene [object_manager.py: 1238] +05/26 23:29:06 WARNING: [Worker 0] Could not find object objacandle_6a037139d50e4150bd30c7e900126779_1_0_9 in scene [object_manager.py: 1238] +05/26 23:30:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:41:35 INFO: [Worker 0] Worker 0 house 1862 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 23:41:38 INFO: [Worker 0] Batching and saving trajectory data for house_1862: 1 episodes [pipeline.py: 233] +05/26 23:41:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:41:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:41:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1862 [save_utils.py: 703] +05/26 23:41:41 INFO: [Worker 0] Successfully saved trajectory data for house_1862 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/26 23:41:41 WARNING: [Worker 0] No trajectory data to save for house_1862 [pipeline.py: 229] +05/26 23:41:41 INFO: [Worker 0] Worker 0 completed house 1862: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:41:41 INFO: [Worker 0] Worker 0 starting house 1937 (index 17/114) [pipeline.py: 473] +05/26 23:41:41 INFO: [Worker 0] Loaded 1 episodes for house 1937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 23:41:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:41:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1937_ceiling.xml [task_sampler.py: 797] +05/26 23:41:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1937, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:41:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:41:46 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/26 23:41:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:41:46 INFO: [Worker 0] Sampled task 'Pick up the tissue paper and place it next to the purple spray bottle with white nozzle' [task_sampler.py: 1136] +05/26 23:41:46 INFO: [Worker 0] Worker 0 house 1937 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:41:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:43:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:54:21 INFO: [Worker 0] Worker 0 house 1937 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 23:54:25 INFO: [Worker 0] Batching and saving trajectory data for house_1937: 1 episodes [pipeline.py: 233] +05/26 23:54:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:54:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:54:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1937 [save_utils.py: 703] +05/26 23:54:27 INFO: [Worker 0] Successfully saved trajectory data for house_1937 in 2.67s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/26 23:54:28 WARNING: [Worker 0] No trajectory data to save for house_1937 [pipeline.py: 229] +05/26 23:54:28 INFO: [Worker 0] Worker 0 completed house 1937: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:54:28 INFO: [Worker 0] Worker 0 starting house 2034 (index 18/114) [pipeline.py: 473] +05/26 23:54:28 INFO: [Worker 0] Loaded 1 episodes for house 2034 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 23:54:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:54:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2034_ceiling.xml [task_sampler.py: 797] +05/26 23:54:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2034, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:54:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:54:58 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/26 23:54:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:54:58 INFO: [Worker 0] Sampled task 'Pick up the vibrant magenta coil spring on base and place it next to the cassetteplayer' [task_sampler.py: 1136] +05/26 23:54:58 INFO: [Worker 0] Worker 0 house 2034 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:54:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:09:51 INFO: [Worker 0] Worker 0 house 2034 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 00:09:54 INFO: [Worker 0] Batching and saving trajectory data for house_2034: 1 episodes [pipeline.py: 233] +05/27 00:09:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:09:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:09:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2034 [save_utils.py: 703] +05/27 00:09:57 INFO: [Worker 0] Successfully saved trajectory data for house_2034 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 00:09:57 WARNING: [Worker 0] No trajectory data to save for house_2034 [pipeline.py: 229] +05/27 00:09:57 INFO: [Worker 0] Worker 0 completed house 2034: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:09:57 INFO: [Worker 0] Worker 0 starting house 2142 (index 19/114) [pipeline.py: 473] +05/27 00:09:57 INFO: [Worker 0] Loaded 1 episodes for house 2142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 00:09:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:10:21 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 00:10:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2142_ceiling.xml [task_sampler.py: 797] +05/27 00:10:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2142, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:10:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:10:25 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/27 00:10:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:10:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:10:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:10:25 INFO: [Worker 0] Sampled task 'Pick up the pointed brass bullet with tip and place it next to the gold vintage camera' [task_sampler.py: 1136] +05/27 00:10:25 INFO: [Worker 0] Worker 0 house 2142 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:10:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:10:25 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 00:12:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:27:34 INFO: [Worker 0] Worker 0 house 2142 episode 0 object objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 00:27:38 INFO: [Worker 0] Batching and saving trajectory data for house_2142: 1 episodes [pipeline.py: 233] +05/27 00:27:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:27:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:27:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2142 [save_utils.py: 703] +05/27 00:27:41 INFO: [Worker 0] Successfully saved trajectory data for house_2142 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 00:27:41 WARNING: [Worker 0] No trajectory data to save for house_2142 [pipeline.py: 229] +05/27 00:27:41 INFO: [Worker 0] Worker 0 completed house 2142: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:27:41 INFO: [Worker 0] Worker 0 starting house 2245 (index 20/114) [pipeline.py: 473] +05/27 00:27:41 INFO: [Worker 0] Loaded 1 episodes for house 2245 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 00:27:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:27:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2245_ceiling.xml [task_sampler.py: 797] +05/27 00:27:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2245, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:27:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:27:46 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 00:27:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:27:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:27:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:27:46 INFO: [Worker 0] Sampled task 'Pick up the garden hose connector and place it next to the thick yellow hardcover book' [task_sampler.py: 1136] +05/27 00:27:46 INFO: [Worker 0] Worker 0 house 2245 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:27:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:27:46 WARNING: [Worker 0] Could not find object apple_8a1c7fb834f6201db020cae968b49bbc_1_0_8 in scene [object_manager.py: 1238] +05/27 00:29:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:42:59 INFO: [Worker 0] Worker 0 house 2245 episode 0 object objagardenhoseconnector_bf765bb3a0824d8fb21121f299b44df4_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 00:43:03 INFO: [Worker 0] Batching and saving trajectory data for house_2245: 1 episodes [pipeline.py: 233] +05/27 00:43:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:43:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:43:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2245 [save_utils.py: 703] +05/27 00:43:05 INFO: [Worker 0] Successfully saved trajectory data for house_2245 in 2.73s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/27 00:43:06 WARNING: [Worker 0] No trajectory data to save for house_2245 [pipeline.py: 229] +05/27 00:43:06 INFO: [Worker 0] Worker 0 completed house 2245: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:43:06 INFO: [Worker 0] Worker 0 starting house 2360 (index 21/114) [pipeline.py: 473] +05/27 00:43:06 INFO: [Worker 0] Loaded 1 episodes for house 2360 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 00:43:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:43:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2360_ceiling.xml [task_sampler.py: 797] +05/27 00:43:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2360, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:43:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:43:41 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/27 00:43:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:43:41 INFO: [Worker 0] Sampled task 'Pick up the paint roller with textured off-white head and place it next to the white ceramic vase with subtle ridges' [task_sampler.py: 1136] +05/27 00:43:41 INFO: [Worker 0] Worker 0 house 2360 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:43:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:45:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:55:00 INFO: [Worker 0] Worker 0 house 2360 episode 0 object objapaintroller_002a355c77774228b15db50d77d0e002_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 00:55:03 INFO: [Worker 0] Batching and saving trajectory data for house_2360: 1 episodes [pipeline.py: 233] +05/27 00:55:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:55:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:55:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2360 [save_utils.py: 703] +05/27 00:55:05 INFO: [Worker 0] Successfully saved trajectory data for house_2360 in 2.41s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 00:55:06 WARNING: [Worker 0] No trajectory data to save for house_2360 [pipeline.py: 229] +05/27 00:55:06 INFO: [Worker 0] Worker 0 completed house 2360: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:55:06 INFO: [Worker 0] Worker 0 starting house 2465 (index 22/114) [pipeline.py: 473] +05/27 00:55:06 INFO: [Worker 0] Loaded 1 episodes for house 2465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 00:55:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:55:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2465_ceiling.xml [task_sampler.py: 797] +05/27 00:55:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2465, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:55:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:55:54 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/27 00:55:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:55:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:55:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:55:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:55:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:55:54 INFO: [Worker 0] Sampled task 'Pick up the medium smooth red apple and place it next to the crumpled white plastic bag with stains' [task_sampler.py: 1136] +05/27 00:55:54 INFO: [Worker 0] Worker 0 house 2465 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:55:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:55:54 WARNING: [Worker 0] Could not find object lettuce_1e4728cf567cf815d1bc4e37bc564bdc_1_0_2 in scene [object_manager.py: 1238] +05/27 00:57:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:04:09 INFO: [Worker 0] Worker 0 house 2465 episode 0 object apple_8a1c7fb834f6201db020cae968b49bbc_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:04:12 INFO: [Worker 0] Batching and saving trajectory data for house_2465: 1 episodes [pipeline.py: 233] +05/27 01:04:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:04:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:04:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2465 [save_utils.py: 703] +05/27 01:04:14 INFO: [Worker 0] Successfully saved trajectory data for house_2465 in 2.36s (batch: 2.27s, save: 0.09s) [pipeline.py: 280] +05/27 01:04:15 WARNING: [Worker 0] No trajectory data to save for house_2465 [pipeline.py: 229] +05/27 01:04:15 INFO: [Worker 0] Worker 0 completed house 2465: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:04:15 INFO: [Worker 0] Worker 0 starting house 2502 (index 23/114) [pipeline.py: 473] +05/27 01:04:15 INFO: [Worker 0] Loaded 1 episodes for house 2502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 01:04:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:04:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2502_ceiling.xml [task_sampler.py: 797] +05/27 01:04:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2502, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:04:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:04:53 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 01:04:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:04:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:04:53 INFO: [Worker 0] Sampled task 'Pick up the old-fashioned metal pencil sharpener and place it next to the round brown bread loaf domed' [task_sampler.py: 1136] +05/27 01:04:53 INFO: [Worker 0] Worker 0 house 2502 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:04:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:04:53 WARNING: [Worker 0] Could not find object objaplushtoy_f08a0ca0ca13418fa5dec0b11df9cb82_1_0_3 in scene [object_manager.py: 1238] +05/27 01:04:53 WARNING: [Worker 0] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_3 in scene [object_manager.py: 1238] +05/27 01:20:48 INFO: [Worker 0] Worker 0 house 2502 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:20:51 INFO: [Worker 0] Batching and saving trajectory data for house_2502: 1 episodes [pipeline.py: 233] +05/27 01:20:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:20:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:20:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2502 [save_utils.py: 703] +05/27 01:20:54 INFO: [Worker 0] Successfully saved trajectory data for house_2502 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 01:20:54 WARNING: [Worker 0] No trajectory data to save for house_2502 [pipeline.py: 229] +05/27 01:20:54 INFO: [Worker 0] Worker 0 completed house 2502: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:20:54 INFO: [Worker 0] Worker 0 starting house 2638 (index 24/114) [pipeline.py: 473] +05/27 01:20:54 INFO: [Worker 0] Loaded 1 episodes for house 2638 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 01:20:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:20:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2638_ceiling.xml [task_sampler.py: 797] +05/27 01:20:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2638, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:20:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:20:58 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 01:20:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:20:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:20:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:20:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:20:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:20:58 INFO: [Worker 0] Sampled task 'Pick up the purple plastic spray bottle with trigger and place it next to the blue toaster with two slots' [task_sampler.py: 1136] +05/27 01:20:58 INFO: [Worker 0] Worker 0 house 2638 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:20:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:25:57 INFO: [Worker 0] Worker 0 house 2638 episode 0 object atomizer_834d386e080077accc22e6eae5471528_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 01:26:00 INFO: [Worker 0] Batching and saving trajectory data for house_2638: 1 episodes [pipeline.py: 233] +05/27 01:26:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:26:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:26:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2638 [save_utils.py: 703] +05/27 01:26:02 INFO: [Worker 0] Successfully saved trajectory data for house_2638 in 2.45s (batch: 2.35s, save: 0.09s) [pipeline.py: 280] +05/27 01:26:03 WARNING: [Worker 0] No trajectory data to save for house_2638 [pipeline.py: 229] +05/27 01:26:03 INFO: [Worker 0] Worker 0 completed house 2638: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:26:03 INFO: [Worker 0] Worker 0 starting house 2775 (index 25/114) [pipeline.py: 473] +05/27 01:26:03 INFO: [Worker 0] Loaded 1 episodes for house 2775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 01:26:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:26:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2775_ceiling.xml [task_sampler.py: 797] +05/27 01:26:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2775, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:26:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:26:05 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/27 01:26:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:26:05 INFO: [Worker 0] Sampled task 'Pick up the oblong brown potato with blemishes and place it next to the antique cannon model' [task_sampler.py: 1136] +05/27 01:26:05 INFO: [Worker 0] Worker 0 house 2775 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:26:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:27:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:34:27 INFO: [Worker 0] Worker 0 house 2775 episode 0 object objapotato_77c957c8e7054cf4909472bfdaa04328_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:34:31 INFO: [Worker 0] Batching and saving trajectory data for house_2775: 1 episodes [pipeline.py: 233] +05/27 01:34:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:34:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:34:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2775 [save_utils.py: 703] +05/27 01:34:33 INFO: [Worker 0] Successfully saved trajectory data for house_2775 in 2.71s (batch: 2.61s, save: 0.10s) [pipeline.py: 280] +05/27 01:34:34 WARNING: [Worker 0] No trajectory data to save for house_2775 [pipeline.py: 229] +05/27 01:34:34 INFO: [Worker 0] Worker 0 completed house 2775: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:34:34 INFO: [Worker 0] Worker 0 starting house 2853 (index 26/114) [pipeline.py: 473] +05/27 01:34:34 INFO: [Worker 0] Loaded 1 episodes for house 2853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 01:34:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:35:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2853_ceiling.xml [task_sampler.py: 797] +05/27 01:35:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2853, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:35:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:35:57 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects [json_eval_task_sampler.py: 686] +05/27 01:35:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:35:57 INFO: [Worker 0] Sampled task 'Pick up the wooden paddle with black decorative rectangles and place it next to the laptop computer' [task_sampler.py: 1136] +05/27 01:35:57 INFO: [Worker 0] Worker 0 house 2853 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:35:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:54:47 INFO: [Worker 0] Worker 0 house 2853 episode 0 object objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 01:54:50 INFO: [Worker 0] Batching and saving trajectory data for house_2853: 1 episodes [pipeline.py: 233] +05/27 01:54:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:54:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:54:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2853 [save_utils.py: 703] +05/27 01:54:52 INFO: [Worker 0] Successfully saved trajectory data for house_2853 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 01:54:53 WARNING: [Worker 0] No trajectory data to save for house_2853 [pipeline.py: 229] +05/27 01:54:53 INFO: [Worker 0] Worker 0 completed house 2853: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:54:53 INFO: [Worker 0] Worker 0 starting house 2948 (index 27/114) [pipeline.py: 473] +05/27 01:54:53 INFO: [Worker 0] Loaded 1 episodes for house 2948 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 01:54:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:57:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2948_ceiling.xml [task_sampler.py: 797] +05/27 01:57:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2948, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:57:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:57:06 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects [json_eval_task_sampler.py: 686] +05/27 01:57:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:57:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:57:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:57:06 INFO: [Worker 0] Sampled task 'Pick up the deer bust with red collar and place it next to the yellow handled kitchen knife' [task_sampler.py: 1136] +05/27 01:57:06 INFO: [Worker 0] Worker 0 house 2948 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:57:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:58:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:06:48 INFO: [Worker 0] Worker 0 house 2948 episode 0 object objadecorativebust_5a6e5b23243d41a2a5cec0e259c56ba3_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 02:06:51 INFO: [Worker 0] Batching and saving trajectory data for house_2948: 1 episodes [pipeline.py: 233] +05/27 02:06:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:06:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:06:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2948 [save_utils.py: 703] +05/27 02:06:53 INFO: [Worker 0] Successfully saved trajectory data for house_2948 in 2.37s (batch: 2.28s, save: 0.09s) [pipeline.py: 280] +05/27 02:06:54 WARNING: [Worker 0] No trajectory data to save for house_2948 [pipeline.py: 229] +05/27 02:06:54 INFO: [Worker 0] Worker 0 completed house 2948: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:06:54 INFO: [Worker 0] Worker 0 starting house 3052 (index 28/114) [pipeline.py: 473] +05/27 02:06:54 INFO: [Worker 0] Loaded 1 episodes for house 3052 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 02:06:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:06:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3052_ceiling.xml [task_sampler.py: 797] +05/27 02:06:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3052, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:06:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:06:58 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 02:06:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:06:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:06:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:06:58 INFO: [Worker 0] Sampled task 'Pick up the black spray paint can and place it next to the olive scalloped ceramic plate' [task_sampler.py: 1136] +05/27 02:06:58 INFO: [Worker 0] Worker 0 house 3052 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:06:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:06:58 WARNING: [Worker 0] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene [object_manager.py: 1238] +05/27 02:08:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:19:31 INFO: [Worker 0] Worker 0 house 3052 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 02:19:34 INFO: [Worker 0] Batching and saving trajectory data for house_3052: 1 episodes [pipeline.py: 233] +05/27 02:19:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:19:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:19:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3052 [save_utils.py: 703] +05/27 02:19:37 INFO: [Worker 0] Successfully saved trajectory data for house_3052 in 2.44s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 02:19:37 WARNING: [Worker 0] No trajectory data to save for house_3052 [pipeline.py: 229] +05/27 02:19:37 INFO: [Worker 0] Worker 0 completed house 3052: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:19:37 INFO: [Worker 0] Worker 0 starting house 3190 (index 29/114) [pipeline.py: 473] +05/27 02:19:37 INFO: [Worker 0] Loaded 1 episodes for house 3190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 02:19:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:19:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3190_ceiling.xml [task_sampler.py: 797] +05/27 02:19:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3190, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:19:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:19:41 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 02:19:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:19:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:19:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:19:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:19:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:19:41 INFO: [Worker 0] Sampled task 'Pick up the futuristic device and place it next to the blue soap bottle' [task_sampler.py: 1136] +05/27 02:19:41 INFO: [Worker 0] Worker 0 house 3190 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:19:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:21:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:32:51 INFO: [Worker 0] Worker 0 house 3190 episode 0 object objaappliance_a295613096c54e6e9c898469e8afc236_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 02:32:55 INFO: [Worker 0] Batching and saving trajectory data for house_3190: 1 episodes [pipeline.py: 233] +05/27 02:32:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:32:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:32:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3190 [save_utils.py: 703] +05/27 02:32:57 INFO: [Worker 0] Successfully saved trajectory data for house_3190 in 2.49s (batch: 2.40s, save: 0.09s) [pipeline.py: 280] +05/27 02:32:58 WARNING: [Worker 0] No trajectory data to save for house_3190 [pipeline.py: 229] +05/27 02:32:58 INFO: [Worker 0] Worker 0 completed house 3190: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:32:58 INFO: [Worker 0] Worker 0 starting house 3247 (index 30/114) [pipeline.py: 473] +05/27 02:32:58 INFO: [Worker 0] Loaded 1 episodes for house 3247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 02:32:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:33:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3247_ceiling.xml [task_sampler.py: 797] +05/27 02:33:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3247, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:33:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:33:15 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/27 02:33:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:33:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:33:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:33:15 INFO: [Worker 0] Sampled task 'Pick up the rectangular metal plate mount and place it next to the gray butterfly with geometric patterns' [task_sampler.py: 1136] +05/27 02:33:15 INFO: [Worker 0] Worker 0 house 3247 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:33:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:33:16 WARNING: [Worker 0] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene [object_manager.py: 1238] +05/27 02:33:16 WARNING: [Worker 0] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene [object_manager.py: 1238] +05/27 02:44:51 INFO: [Worker 0] Worker 0 house 3247 episode 0 object objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 02:44:54 INFO: [Worker 0] Batching and saving trajectory data for house_3247: 1 episodes [pipeline.py: 233] +05/27 02:44:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:44:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:44:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3247 [save_utils.py: 703] +05/27 02:44:57 INFO: [Worker 0] Successfully saved trajectory data for house_3247 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 02:44:58 WARNING: [Worker 0] No trajectory data to save for house_3247 [pipeline.py: 229] +05/27 02:44:58 INFO: [Worker 0] Worker 0 completed house 3247: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:44:58 INFO: [Worker 0] Worker 0 starting house 3284 (index 31/114) [pipeline.py: 473] +05/27 02:44:58 INFO: [Worker 0] Loaded 1 episodes for house 3284 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 02:44:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:45:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3284_ceiling.xml [task_sampler.py: 797] +05/27 02:45:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3284, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:45:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:45:09 INFO: [Worker 0] randomize_scene: Setting poses for 115 objects [json_eval_task_sampler.py: 686] +05/27 02:45:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:45:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:45:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:45:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:45:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:45:09 INFO: [Worker 0] Sampled task 'Pick up the glossy deep red arrow sign and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 02:45:09 INFO: [Worker 0] Worker 0 house 3284 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:45:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:46:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:05:41 INFO: [Worker 0] Worker 0 house 3284 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:05:44 INFO: [Worker 0] Batching and saving trajectory data for house_3284: 1 episodes [pipeline.py: 233] +05/27 03:05:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:05:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:05:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3284 [save_utils.py: 703] +05/27 03:05:47 INFO: [Worker 0] Successfully saved trajectory data for house_3284 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/27 03:05:47 WARNING: [Worker 0] No trajectory data to save for house_3284 [pipeline.py: 229] +05/27 03:05:47 INFO: [Worker 0] Worker 0 completed house 3284: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:05:47 INFO: [Worker 0] Worker 0 starting house 3373 (index 32/114) [pipeline.py: 473] +05/27 03:05:47 INFO: [Worker 0] Loaded 1 episodes for house 3373 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 03:05:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:05:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3373_ceiling.xml [task_sampler.py: 797] +05/27 03:05:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3373, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:05:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:05:50 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/27 03:05:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:05:50 INFO: [Worker 0] Sampled task 'Pick up the vintage desk calendar with handle and place it next to the dark gray laptop with keyboard' [task_sampler.py: 1136] +05/27 03:05:50 INFO: [Worker 0] Worker 0 house 3373 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:05:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:07:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:08:03 INFO: [Worker 0] Worker 0 house 3373 episode 0 object objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_2 completed with success=True [pipeline.py: 1114] +05/27 03:08:07 INFO: [Worker 0] Batching and saving trajectory data for house_3373: 1 episodes [pipeline.py: 233] +05/27 03:08:07 INFO: [Worker 0] Preparing episode data: 46 timesteps [save_utils.py: 284] +05/27 03:08:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:08:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3373 [save_utils.py: 703] +05/27 03:08:10 INFO: [Worker 0] Successfully saved trajectory data for house_3373 in 2.45s (batch: 2.43s, save: 0.03s) [pipeline.py: 280] +05/27 03:08:10 WARNING: [Worker 0] No trajectory data to save for house_3373 [pipeline.py: 229] +05/27 03:08:10 INFO: [Worker 0] Worker 0 completed house 3373: 1/1 successful episodes [pipeline.py: 1243] +05/27 03:08:10 INFO: [Worker 0] Worker 0 starting house 3420 (index 33/114) [pipeline.py: 473] +05/27 03:08:10 INFO: [Worker 0] Loaded 1 episodes for house 3420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 03:08:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:08:17 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 03:08:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3420_ceiling.xml [task_sampler.py: 797] +05/27 03:08:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3420, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:08:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:08:20 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 03:08:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:08:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:08:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:08:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:08:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:08:20 INFO: [Worker 0] Sampled task 'Pick up the curled vintage ribbon with text and place it next to the small dark brown potato' [task_sampler.py: 1136] +05/27 03:08:20 INFO: [Worker 0] Worker 0 house 3420 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:08:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:08:21 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene [object_manager.py: 1238] +05/27 03:09:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:23:34 INFO: [Worker 0] Worker 0 house 3420 episode 0 object objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:23:37 INFO: [Worker 0] Batching and saving trajectory data for house_3420: 1 episodes [pipeline.py: 233] +05/27 03:23:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:23:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:23:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3420 [save_utils.py: 703] +05/27 03:23:40 INFO: [Worker 0] Successfully saved trajectory data for house_3420 in 2.51s (batch: 2.41s, save: 0.10s) [pipeline.py: 280] +05/27 03:23:41 WARNING: [Worker 0] No trajectory data to save for house_3420 [pipeline.py: 229] +05/27 03:23:41 INFO: [Worker 0] Worker 0 completed house 3420: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:23:41 INFO: [Worker 0] Worker 0 starting house 3515 (index 34/114) [pipeline.py: 473] +05/27 03:23:41 INFO: [Worker 0] Loaded 1 episodes for house 3515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 03:23:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:23:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3515_ceiling.xml [task_sampler.py: 797] +05/27 03:23:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3515, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:23:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:23:43 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/27 03:23:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:23:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:23:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:23:43 INFO: [Worker 0] Sampled task 'Pick up the transceiver and place it next to the weathered metallic electrical box with handle' [task_sampler.py: 1136] +05/27 03:23:43 INFO: [Worker 0] Worker 0 house 3515 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:23:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:25:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:32:52 INFO: [Worker 0] Worker 0 house 3515 episode 0 object objanetworkdevice_224e056b02a040039f7c4a9b141e25e5_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:32:56 INFO: [Worker 0] Batching and saving trajectory data for house_3515: 1 episodes [pipeline.py: 233] +05/27 03:32:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:32:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:32:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3515 [save_utils.py: 703] +05/27 03:32:59 INFO: [Worker 0] Successfully saved trajectory data for house_3515 in 2.90s (batch: 2.81s, save: 0.09s) [pipeline.py: 280] +05/27 03:33:00 WARNING: [Worker 0] No trajectory data to save for house_3515 [pipeline.py: 229] +05/27 03:33:00 INFO: [Worker 0] Worker 0 completed house 3515: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:33:00 INFO: [Worker 0] Worker 0 starting house 3626 (index 35/114) [pipeline.py: 473] +05/27 03:33:00 INFO: [Worker 0] Loaded 1 episodes for house 3626 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 03:33:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:33:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3626_ceiling.xml [task_sampler.py: 797] +05/27 03:33:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3626, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:33:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:33:12 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/27 03:33:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:33:12 INFO: [Worker 0] Sampled task 'Pick up the teal cordless grinder and place it next to the house plant' [task_sampler.py: 1136] +05/27 03:33:12 INFO: [Worker 0] Worker 0 house 3626 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:33:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:34:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:47:26 INFO: [Worker 0] Worker 0 house 3626 episode 0 object objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 03:47:30 INFO: [Worker 0] Batching and saving trajectory data for house_3626: 1 episodes [pipeline.py: 233] +05/27 03:47:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:47:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:47:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3626 [save_utils.py: 703] +05/27 03:47:33 INFO: [Worker 0] Successfully saved trajectory data for house_3626 in 2.67s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/27 03:47:33 WARNING: [Worker 0] No trajectory data to save for house_3626 [pipeline.py: 229] +05/27 03:47:33 INFO: [Worker 0] Worker 0 completed house 3626: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:47:33 INFO: [Worker 0] Worker 0 starting house 3721 (index 36/114) [pipeline.py: 473] +05/27 03:47:33 INFO: [Worker 0] Loaded 1 episodes for house 3721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 03:47:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:47:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3721_ceiling.xml [task_sampler.py: 797] +05/27 03:47:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3721, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:47:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:47:42 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/27 03:47:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:47:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:47:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:47:42 INFO: [Worker 0] Sampled task 'Pick up the striped teacup and place it next to the smooth red apple' [task_sampler.py: 1136] +05/27 03:47:42 INFO: [Worker 0] Worker 0 house 3721 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:47:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:47:42 WARNING: [Worker 0] Could not find object objagymladder_15cc0301b4ba494895eff8aa74c1fb7f_1_0_4 in scene [object_manager.py: 1238] +05/27 04:08:29 INFO: [Worker 0] Worker 0 house 3721 episode 0 object objateacup_8f63a888a2c3473eabef51c650c82b45_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:08:33 INFO: [Worker 0] Batching and saving trajectory data for house_3721: 1 episodes [pipeline.py: 233] +05/27 04:08:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:08:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:08:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3721 [save_utils.py: 703] +05/27 04:08:36 INFO: [Worker 0] Successfully saved trajectory data for house_3721 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 04:08:36 WARNING: [Worker 0] No trajectory data to save for house_3721 [pipeline.py: 229] +05/27 04:08:36 INFO: [Worker 0] Worker 0 completed house 3721: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:08:36 INFO: [Worker 0] Worker 0 starting house 3763 (index 37/114) [pipeline.py: 473] +05/27 04:08:36 INFO: [Worker 0] Loaded 1 episodes for house 3763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 04:08:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:08:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3763_ceiling.xml [task_sampler.py: 797] +05/27 04:08:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3763, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:08:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:08:47 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/27 04:08:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:08:47 INFO: [Worker 0] Sampled task 'Pick up the photographic camera and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 04:08:47 INFO: [Worker 0] Worker 0 house 3763 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:08:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:10:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:21:20 INFO: [Worker 0] Worker 0 house 3763 episode 0 object objacamera_6932f08350dc47179ec8dd1ac0d18ce8_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 04:21:24 INFO: [Worker 0] Batching and saving trajectory data for house_3763: 1 episodes [pipeline.py: 233] +05/27 04:21:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:21:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:21:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3763 [save_utils.py: 703] +05/27 04:21:27 INFO: [Worker 0] Successfully saved trajectory data for house_3763 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 04:21:28 WARNING: [Worker 0] No trajectory data to save for house_3763 [pipeline.py: 229] +05/27 04:21:28 INFO: [Worker 0] Worker 0 completed house 3763: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:21:28 INFO: [Worker 0] Worker 0 starting house 3908 (index 38/114) [pipeline.py: 473] +05/27 04:21:28 INFO: [Worker 0] Loaded 1 episodes for house 3908 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 04:21:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:21:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3908_ceiling.xml [task_sampler.py: 797] +05/27 04:21:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3908, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:21:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:21:29 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/27 04:21:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:21:29 INFO: [Worker 0] Sampled task 'Pick up the green and white athletic shoe and place it next to the guitar effects pedal' [task_sampler.py: 1136] +05/27 04:21:29 INFO: [Worker 0] Worker 0 house 3908 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:21:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:21:29 WARNING: [Worker 0] Could not find object objaartifact_e3b5326e94c441f59d9833835a01a6f7_1_0_2 in scene [object_manager.py: 1238] +05/27 04:21:29 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_2 in scene [object_manager.py: 1238] +05/27 04:23:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:28:02 INFO: [Worker 0] Worker 0 house 3908 episode 0 object objaathleticshoe_f13de6ea58204192ab4250342bd69aac_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:28:06 INFO: [Worker 0] Batching and saving trajectory data for house_3908: 1 episodes [pipeline.py: 233] +05/27 04:28:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:28:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:28:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3908 [save_utils.py: 703] +05/27 04:28:09 INFO: [Worker 0] Successfully saved trajectory data for house_3908 in 2.71s (batch: 2.62s, save: 0.09s) [pipeline.py: 280] +05/27 04:28:09 WARNING: [Worker 0] No trajectory data to save for house_3908 [pipeline.py: 229] +05/27 04:28:09 INFO: [Worker 0] Worker 0 completed house 3908: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:28:09 INFO: [Worker 0] Worker 0 starting house 4019 (index 39/114) [pipeline.py: 473] +05/27 04:28:09 INFO: [Worker 0] Loaded 2 episodes for house 4019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 04:28:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:28:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4019_ceiling.xml [task_sampler.py: 797] +05/27 04:28:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4019, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:28:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:28:19 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 04:28:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:28:19 INFO: [Worker 0] Sampled task 'Pick up the dark gray cylindrical metal coil spring and place it next to the instrumentation' [task_sampler.py: 1136] +05/27 04:28:19 INFO: [Worker 0] Worker 0 house 4019 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 04:28:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:41:06 INFO: [Worker 0] Worker 0 house 4019 episode 0 object objaspring_3071830f2d3e4b57a59976719298c808_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 04:41:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:41:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4019_ceiling.xml [task_sampler.py: 797] +05/27 04:41:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4019, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:41:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:41:13 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 04:41:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:41:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:41:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:41:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:41:13 INFO: [Worker 0] Sampled task 'Pick up the instrumentation and place it next to the dark gray cylindrical metal coil spring' [task_sampler.py: 1136] +05/27 04:41:13 INFO: [Worker 0] Worker 0 house 4019 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 04:41:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:54:00 INFO: [Worker 0] Worker 0 house 4019 episode 1 object objahandhelddevice_fd9fdf81ab624a66897bbd8ac299e26f_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 04:54:04 INFO: [Worker 0] Batching and saving trajectory data for house_4019: 2 episodes [pipeline.py: 233] +05/27 04:54:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:54:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:54:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:54:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:54:09 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4019 [save_utils.py: 703] +05/27 04:54:09 INFO: [Worker 0] Successfully saved trajectory data for house_4019 in 5.51s (batch: 5.35s, save: 0.17s) [pipeline.py: 280] +05/27 04:54:10 WARNING: [Worker 0] No trajectory data to save for house_4019 [pipeline.py: 229] +05/27 04:54:10 INFO: [Worker 0] Worker 0 completed house 4019: 0/2 successful episodes [pipeline.py: 1243] +05/27 04:54:10 INFO: [Worker 0] Worker 0 starting house 4030 (index 40/114) [pipeline.py: 473] +05/27 04:54:10 INFO: [Worker 0] Loaded 1 episodes for house 4030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 04:54:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:54:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4030_ceiling.xml [task_sampler.py: 797] +05/27 04:54:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4030, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:54:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:54:15 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 04:54:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:54:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:54:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:54:15 INFO: [Worker 0] Sampled task 'Pick up the rectangular metallic effects pedal and place it next to the gray dispenser with metallic tip' [task_sampler.py: 1136] +05/27 04:54:15 INFO: [Worker 0] Worker 0 house 4030 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:54:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:11:05 INFO: [Worker 0] Worker 0 house 4030 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 05:11:09 INFO: [Worker 0] Batching and saving trajectory data for house_4030: 1 episodes [pipeline.py: 233] +05/27 05:11:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:11:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:11:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4030 [save_utils.py: 703] +05/27 05:11:12 INFO: [Worker 0] Successfully saved trajectory data for house_4030 in 2.70s (batch: 2.62s, save: 0.09s) [pipeline.py: 280] +05/27 05:11:13 WARNING: [Worker 0] No trajectory data to save for house_4030 [pipeline.py: 229] +05/27 05:11:13 INFO: [Worker 0] Worker 0 completed house 4030: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:11:13 INFO: [Worker 0] Worker 0 starting house 4132 (index 41/114) [pipeline.py: 473] +05/27 05:11:13 INFO: [Worker 0] Loaded 1 episodes for house 4132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 05:11:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:11:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4132_ceiling.xml [task_sampler.py: 797] +05/27 05:11:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4132, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:11:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:11:17 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/27 05:11:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:11:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:11:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:11:17 INFO: [Worker 0] Sampled task 'Pick up the black capsule and place it next to the voxel gray medieval cannon' [task_sampler.py: 1136] +05/27 05:11:17 INFO: [Worker 0] Worker 0 house 4132 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:11:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:12:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:24:10 INFO: [Worker 0] Worker 0 house 4132 episode 0 object objacapsule_870611a797c1472197872d137247a094_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 05:24:13 INFO: [Worker 0] Batching and saving trajectory data for house_4132: 1 episodes [pipeline.py: 233] +05/27 05:24:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:24:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:24:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4132 [save_utils.py: 703] +05/27 05:24:16 INFO: [Worker 0] Successfully saved trajectory data for house_4132 in 2.35s (batch: 2.26s, save: 0.09s) [pipeline.py: 280] +05/27 05:24:16 WARNING: [Worker 0] No trajectory data to save for house_4132 [pipeline.py: 229] +05/27 05:24:16 INFO: [Worker 0] Worker 0 completed house 4132: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:24:16 INFO: [Worker 0] Worker 0 starting house 4200 (index 42/114) [pipeline.py: 473] +05/27 05:24:16 INFO: [Worker 0] Loaded 1 episodes for house 4200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 05:24:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:24:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4200_ceiling.xml [task_sampler.py: 797] +05/27 05:24:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4200, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:24:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:24:18 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/27 05:24:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:24:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:24:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:24:18 INFO: [Worker 0] Sampled task 'Pick up the rectangular metal plate mount and place it next to the curved off-white jawbone with teeth' [task_sampler.py: 1136] +05/27 05:24:18 INFO: [Worker 0] Worker 0 house 4200 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:24:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:25:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:31:16 INFO: [Worker 0] Worker 0 house 4200 episode 0 object objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:31:20 INFO: [Worker 0] Batching and saving trajectory data for house_4200: 1 episodes [pipeline.py: 233] +05/27 05:31:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:31:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:31:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4200 [save_utils.py: 703] +05/27 05:31:22 INFO: [Worker 0] Successfully saved trajectory data for house_4200 in 2.76s (batch: 2.66s, save: 0.09s) [pipeline.py: 280] +05/27 05:31:23 WARNING: [Worker 0] No trajectory data to save for house_4200 [pipeline.py: 229] +05/27 05:31:23 INFO: [Worker 0] Worker 0 completed house 4200: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:31:23 INFO: [Worker 0] Worker 0 starting house 4273 (index 43/114) [pipeline.py: 473] +05/27 05:31:23 INFO: [Worker 0] Loaded 1 episodes for house 4273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 05:31:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:31:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4273_ceiling.xml [task_sampler.py: 797] +05/27 05:31:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4273, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:31:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:31:25 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 05:31:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:31:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:31:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:31:25 INFO: [Worker 0] Sampled task 'Pick up the metal hinge and place it next to the tall copper cup with ridges' [task_sampler.py: 1136] +05/27 05:31:25 INFO: [Worker 0] Worker 0 house 4273 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:31:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:33:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:38:18 INFO: [Worker 0] Worker 0 house 4273 episode 0 object objahinge_4587c40e36704e7a96ffebad95028160_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:38:21 INFO: [Worker 0] Batching and saving trajectory data for house_4273: 1 episodes [pipeline.py: 233] +05/27 05:38:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:38:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:38:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4273 [save_utils.py: 703] +05/27 05:38:24 INFO: [Worker 0] Successfully saved trajectory data for house_4273 in 2.50s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/27 05:38:25 WARNING: [Worker 0] No trajectory data to save for house_4273 [pipeline.py: 229] +05/27 05:38:25 INFO: [Worker 0] Worker 0 completed house 4273: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:38:25 INFO: [Worker 0] Worker 0 starting house 4320 (index 44/114) [pipeline.py: 473] +05/27 05:38:25 INFO: [Worker 0] Loaded 1 episodes for house 4320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 05:38:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:38:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4320_ceiling.xml [task_sampler.py: 797] +05/27 05:38:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4320, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:38:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:38:26 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects [json_eval_task_sampler.py: 686] +05/27 05:38:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:38:26 INFO: [Worker 0] Sampled task 'Pick up the bold multicolored eyeglasses with rectangular openings and place it next to the open brown cardboard storage box' [task_sampler.py: 1136] +05/27 05:38:26 INFO: [Worker 0] Worker 0 house 4320 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:38:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:40:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:45:45 INFO: [Worker 0] Worker 0 house 4320 episode 0 object objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:45:48 INFO: [Worker 0] Batching and saving trajectory data for house_4320: 1 episodes [pipeline.py: 233] +05/27 05:45:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:45:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:45:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4320 [save_utils.py: 703] +05/27 05:45:51 INFO: [Worker 0] Successfully saved trajectory data for house_4320 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 05:45:51 WARNING: [Worker 0] No trajectory data to save for house_4320 [pipeline.py: 229] +05/27 05:45:51 INFO: [Worker 0] Worker 0 completed house 4320: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:45:51 INFO: [Worker 0] Worker 0 starting house 4396 (index 45/114) [pipeline.py: 473] +05/27 05:45:51 INFO: [Worker 0] Loaded 1 episodes for house 4396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 05:45:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:45:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4396_ceiling.xml [task_sampler.py: 797] +05/27 05:45:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4396, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:45:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:45:59 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 05:45:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:45:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:45:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:45:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:45:59 INFO: [Worker 0] Sampled task 'Pick up the black metal locking pliers and place it next to the smooth medium red apple' [task_sampler.py: 1136] +05/27 05:45:59 INFO: [Worker 0] Worker 0 house 4396 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:45:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:45:59 WARNING: [Worker 0] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_4 in scene [object_manager.py: 1238] +05/27 05:45:59 WARNING: [Worker 0] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_4 in scene [object_manager.py: 1238] +05/27 05:47:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:59:53 INFO: [Worker 0] Worker 0 house 4396 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:59:57 INFO: [Worker 0] Batching and saving trajectory data for house_4396: 1 episodes [pipeline.py: 233] +05/27 05:59:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:59:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:59:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4396 [save_utils.py: 703] +05/27 05:59:59 INFO: [Worker 0] Successfully saved trajectory data for house_4396 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 06:00:00 WARNING: [Worker 0] No trajectory data to save for house_4396 [pipeline.py: 229] +05/27 06:00:00 INFO: [Worker 0] Worker 0 completed house 4396: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:00:00 INFO: [Worker 0] Worker 0 starting house 4480 (index 46/114) [pipeline.py: 473] +05/27 06:00:00 INFO: [Worker 0] Loaded 1 episodes for house 4480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 06:00:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:00:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4480_ceiling.xml [task_sampler.py: 797] +05/27 06:00:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4480, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:00:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:00:16 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/27 06:00:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:00:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:00:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:00:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:00:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:00:16 INFO: [Worker 0] Sampled task 'Pick up the sharpeningsteel and place it next to the gray pigeon with spread wings' [task_sampler.py: 1136] +05/27 06:00:16 INFO: [Worker 0] Worker 0 house 4480 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:00:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:17:02 INFO: [Worker 0] Worker 0 house 4480 episode 0 object objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 06:17:06 INFO: [Worker 0] Batching and saving trajectory data for house_4480: 1 episodes [pipeline.py: 233] +05/27 06:17:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:17:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:17:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4480 [save_utils.py: 703] +05/27 06:17:08 INFO: [Worker 0] Successfully saved trajectory data for house_4480 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 06:17:09 WARNING: [Worker 0] No trajectory data to save for house_4480 [pipeline.py: 229] +05/27 06:17:09 INFO: [Worker 0] Worker 0 completed house 4480: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:17:09 INFO: [Worker 0] Worker 0 starting house 4584 (index 47/114) [pipeline.py: 473] +05/27 06:17:09 INFO: [Worker 0] Loaded 1 episodes for house 4584 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 06:17:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:17:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4584_ceiling.xml [task_sampler.py: 797] +05/27 06:17:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4584, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:17:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:17:13 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/27 06:17:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:17:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:17:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:17:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:17:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:17:13 INFO: [Worker 0] Sampled task 'Pick up the dark metal container with aged label and place it next to the decorative yellow striped fish' [task_sampler.py: 1136] +05/27 06:17:13 INFO: [Worker 0] Worker 0 house 4584 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:17:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:17:13 WARNING: [Worker 0] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_5 in scene [object_manager.py: 1238] +05/27 06:18:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:30:10 INFO: [Worker 0] Worker 0 house 4584 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6 completed with success=False [pipeline.py: 1114] +05/27 06:30:13 INFO: [Worker 0] Batching and saving trajectory data for house_4584: 1 episodes [pipeline.py: 233] +05/27 06:30:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:30:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:30:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4584 [save_utils.py: 703] +05/27 06:30:15 INFO: [Worker 0] Successfully saved trajectory data for house_4584 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 06:30:16 WARNING: [Worker 0] No trajectory data to save for house_4584 [pipeline.py: 229] +05/27 06:30:16 INFO: [Worker 0] Worker 0 completed house 4584: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:30:16 INFO: [Worker 0] Worker 0 starting house 4662 (index 48/114) [pipeline.py: 473] +05/27 06:30:16 INFO: [Worker 0] Loaded 1 episodes for house 4662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 06:30:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:30:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4662_ceiling.xml [task_sampler.py: 797] +05/27 06:30:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4662, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:30:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:30:26 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/27 06:30:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:30:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:30:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:30:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:30:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:30:26 INFO: [Worker 0] Sampled task 'Pick up the pink scepter with wings and gold and place it next to the shiny smooth red apple' [task_sampler.py: 1136] +05/27 06:30:26 INFO: [Worker 0] Worker 0 house 4662 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:30:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:32:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:48:24 INFO: [Worker 0] Worker 0 house 4662 episode 0 object objascepter_4efafd930f154d6a99ec9818d0f3a66a_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 06:48:28 INFO: [Worker 0] Batching and saving trajectory data for house_4662: 1 episodes [pipeline.py: 233] +05/27 06:48:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:48:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:48:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4662 [save_utils.py: 703] +05/27 06:48:31 INFO: [Worker 0] Successfully saved trajectory data for house_4662 in 2.80s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 06:48:31 WARNING: [Worker 0] No trajectory data to save for house_4662 [pipeline.py: 229] +05/27 06:48:31 INFO: [Worker 0] Worker 0 completed house 4662: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:48:31 INFO: [Worker 0] Worker 0 starting house 4706 (index 49/114) [pipeline.py: 473] +05/27 06:48:31 INFO: [Worker 0] Loaded 1 episodes for house 4706 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 06:48:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:48:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4706_ceiling.xml [task_sampler.py: 797] +05/27 06:48:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4706, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:48:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:48:38 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/27 06:48:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:48:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:48:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:48:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:48:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:48:38 INFO: [Worker 0] Sampled task 'Pick up the triangular white sandwich and place it next to the rectangular transparent soap bottle' [task_sampler.py: 1136] +05/27 06:48:38 INFO: [Worker 0] Worker 0 house 4706 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:48:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:48:38 WARNING: [Worker 0] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_4 in scene [object_manager.py: 1238] +05/27 06:48:38 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene [object_manager.py: 1238] +05/27 06:48:38 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/27 06:48:38 WARNING: [Worker 0] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_7 in scene [object_manager.py: 1238] +05/27 06:48:38 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene [object_manager.py: 1238] +05/27 06:50:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:00:45 INFO: [Worker 0] Worker 0 house 4706 episode 0 object objasandwich_8e8b342613f0477182ec8586876291cf_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 07:00:48 INFO: [Worker 0] Batching and saving trajectory data for house_4706: 1 episodes [pipeline.py: 233] +05/27 07:00:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:00:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:00:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4706 [save_utils.py: 703] +05/27 07:00:51 INFO: [Worker 0] Successfully saved trajectory data for house_4706 in 2.68s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/27 07:00:52 WARNING: [Worker 0] No trajectory data to save for house_4706 [pipeline.py: 229] +05/27 07:00:52 INFO: [Worker 0] Worker 0 completed house 4706: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:00:52 INFO: [Worker 0] Worker 0 starting house 4774 (index 50/114) [pipeline.py: 473] +05/27 07:00:52 INFO: [Worker 0] Loaded 1 episodes for house 4774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 07:00:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:01:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4774_ceiling.xml [task_sampler.py: 797] +05/27 07:01:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4774, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:01:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:01:00 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/27 07:01:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:01:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:01:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:01:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:01:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:01:00 INFO: [Worker 0] Sampled task 'Pick up the orange envelope with currency seal and place it next to the pear-shaped beige ceramic hanging weight' [task_sampler.py: 1136] +05/27 07:01:00 INFO: [Worker 0] Worker 0 house 4774 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:01:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:01:00 WARNING: [Worker 0] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene [object_manager.py: 1238] +05/27 07:01:00 WARNING: [Worker 0] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene [object_manager.py: 1238] +05/27 07:02:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:12:35 INFO: [Worker 0] Worker 0 house 4774 episode 0 object objaenvelope_321bc258ef67468cbc2377bb48782f4a_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 07:12:39 INFO: [Worker 0] Batching and saving trajectory data for house_4774: 1 episodes [pipeline.py: 233] +05/27 07:12:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:12:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:12:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4774 [save_utils.py: 703] +05/27 07:12:42 INFO: [Worker 0] Successfully saved trajectory data for house_4774 in 2.72s (batch: 2.61s, save: 0.11s) [pipeline.py: 280] +05/27 07:12:42 WARNING: [Worker 0] No trajectory data to save for house_4774 [pipeline.py: 229] +05/27 07:12:42 INFO: [Worker 0] Worker 0 completed house 4774: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:12:42 INFO: [Worker 0] Worker 0 starting house 4867 (index 51/114) [pipeline.py: 473] +05/27 07:12:42 INFO: [Worker 0] Loaded 1 episodes for house 4867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 07:12:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:12:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4867_ceiling.xml [task_sampler.py: 797] +05/27 07:12:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4867, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:12:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:12:57 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 07:12:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:12:57 INFO: [Worker 0] Sampled task 'Pick up the pink card with bow and flowers and place it next to the large winged fierce dragon model' [task_sampler.py: 1136] +05/27 07:12:57 INFO: [Worker 0] Worker 0 house 4867 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:12:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:12:57 WARNING: [Worker 0] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene [object_manager.py: 1238] +05/27 07:12:57 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/27 07:14:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:29:55 INFO: [Worker 0] Worker 0 house 4867 episode 0 object objadecorativecard_55b595711d0e4b0f894d1ce1f6b1f050_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:29:58 INFO: [Worker 0] Batching and saving trajectory data for house_4867: 1 episodes [pipeline.py: 233] +05/27 07:29:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:30:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:30:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4867 [save_utils.py: 703] +05/27 07:30:01 INFO: [Worker 0] Successfully saved trajectory data for house_4867 in 2.46s (batch: 2.36s, save: 0.10s) [pipeline.py: 280] +05/27 07:30:02 WARNING: [Worker 0] No trajectory data to save for house_4867 [pipeline.py: 229] +05/27 07:30:02 INFO: [Worker 0] Worker 0 completed house 4867: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:30:02 INFO: [Worker 0] Worker 0 starting house 4939 (index 52/114) [pipeline.py: 473] +05/27 07:30:02 INFO: [Worker 0] Loaded 1 episodes for house 4939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 07:30:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:30:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4939_ceiling.xml [task_sampler.py: 797] +05/27 07:30:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4939, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:30:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:30:07 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 07:30:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:30:07 INFO: [Worker 0] Sampled task 'Pick up the cellphone and place it next to the breadstuff' [task_sampler.py: 1136] +05/27 07:30:07 INFO: [Worker 0] Worker 0 house 4939 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:30:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:30:07 WARNING: [Worker 0] Could not find object alarmclock_3374ae9c1eda0e38f47bce321c360e2d_1_0_4 in scene [object_manager.py: 1238] +05/27 07:30:07 WARNING: [Worker 0] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene [object_manager.py: 1238] +05/27 07:30:07 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene [object_manager.py: 1238] +05/27 07:30:07 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/27 07:46:06 INFO: [Worker 0] Worker 0 house 4939 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 07:46:09 INFO: [Worker 0] Batching and saving trajectory data for house_4939: 1 episodes [pipeline.py: 233] +05/27 07:46:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:46:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:46:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4939 [save_utils.py: 703] +05/27 07:46:12 INFO: [Worker 0] Successfully saved trajectory data for house_4939 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 07:46:13 WARNING: [Worker 0] No trajectory data to save for house_4939 [pipeline.py: 229] +05/27 07:46:13 INFO: [Worker 0] Worker 0 completed house 4939: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:46:13 INFO: [Worker 0] Worker 0 starting house 5038 (index 53/114) [pipeline.py: 473] +05/27 07:46:13 INFO: [Worker 0] Loaded 1 episodes for house 5038 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 07:46:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:46:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5038_ceiling.xml [task_sampler.py: 797] +05/27 07:46:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5038, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:46:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:46:30 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 07:46:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:46:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:46:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:46:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:46:30 INFO: [Worker 0] Sampled task 'Pick up the translucent blue capsule and place it next to the smooth yellow apple with stem' [task_sampler.py: 1136] +05/27 07:46:30 INFO: [Worker 0] Worker 0 house 5038 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:46:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:48:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:02:07 INFO: [Worker 0] Worker 0 house 5038 episode 0 object objacapsule_5ff3a5a3cef64439905910e86d37ec57_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:02:11 INFO: [Worker 0] Batching and saving trajectory data for house_5038: 1 episodes [pipeline.py: 233] +05/27 08:02:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:02:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:02:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5038 [save_utils.py: 703] +05/27 08:02:14 INFO: [Worker 0] Successfully saved trajectory data for house_5038 in 2.93s (batch: 2.84s, save: 0.09s) [pipeline.py: 280] +05/27 08:02:15 WARNING: [Worker 0] No trajectory data to save for house_5038 [pipeline.py: 229] +05/27 08:02:15 INFO: [Worker 0] Worker 0 completed house 5038: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:02:15 INFO: [Worker 0] Worker 0 starting house 5131 (index 54/114) [pipeline.py: 473] +05/27 08:02:15 INFO: [Worker 0] Loaded 1 episodes for house 5131 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 08:02:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:02:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5131_ceiling.xml [task_sampler.py: 797] +05/27 08:02:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5131, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:02:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:02:30 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/27 08:02:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:02:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:02:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:02:30 INFO: [Worker 0] Sampled task 'Pick up the gray triangular rugged stone tool and place it next to the ornate golden mirror with purple surface' [task_sampler.py: 1136] +05/27 08:02:30 INFO: [Worker 0] Worker 0 house 5131 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:02:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:02:30 WARNING: [Worker 0] Could not find object objaminiaturehouse_11ed0808fff74f6b8c5a3548743b0b03_1_0_5 in scene [object_manager.py: 1238] +05/27 08:02:30 WARNING: [Worker 0] Could not find object objatorch_e88c4214d4bc4437ae6d249237591071_1_0_5 in scene [object_manager.py: 1238] +05/27 08:04:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:20:34 INFO: [Worker 0] Worker 0 house 5131 episode 0 object objastonetool_98c2763ae351483da79dc4da9b3dc043_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 08:20:38 INFO: [Worker 0] Batching and saving trajectory data for house_5131: 1 episodes [pipeline.py: 233] +05/27 08:20:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:20:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:20:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5131 [save_utils.py: 703] +05/27 08:20:41 INFO: [Worker 0] Successfully saved trajectory data for house_5131 in 2.78s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 08:20:41 WARNING: [Worker 0] No trajectory data to save for house_5131 [pipeline.py: 229] +05/27 08:20:41 INFO: [Worker 0] Worker 0 completed house 5131: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:20:41 INFO: [Worker 0] Worker 0 starting house 5193 (index 55/114) [pipeline.py: 473] +05/27 08:20:41 INFO: [Worker 0] Loaded 1 episodes for house 5193 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 08:20:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:20:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5193_ceiling.xml [task_sampler.py: 797] +05/27 08:20:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5193, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:20:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:20:50 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects [json_eval_task_sampler.py: 686] +05/27 08:20:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:20:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:20:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:20:50 INFO: [Worker 0] Sampled task 'Pick up the aerosol bomb and place it next to the blue spray bottle' [task_sampler.py: 1136] +05/27 08:20:50 INFO: [Worker 0] Worker 0 house 5193 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:20:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:20:50 WARNING: [Worker 0] Could not find object objadecorativepiece_46e9d39e5a084c57b909c443e3b4fbf8_1_0_3 in scene [object_manager.py: 1238] +05/27 08:20:50 WARNING: [Worker 0] Could not find object cellulartelephone_4a51b9da92477e478b1a5867575dc6a1_1_0_3 in scene [object_manager.py: 1238] +05/27 08:22:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:38:47 INFO: [Worker 0] Worker 0 house 5193 episode 0 object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:38:51 INFO: [Worker 0] Batching and saving trajectory data for house_5193: 1 episodes [pipeline.py: 233] +05/27 08:38:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:38:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:38:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5193 [save_utils.py: 703] +05/27 08:38:53 INFO: [Worker 0] Successfully saved trajectory data for house_5193 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 08:38:54 WARNING: [Worker 0] No trajectory data to save for house_5193 [pipeline.py: 229] +05/27 08:38:54 INFO: [Worker 0] Worker 0 completed house 5193: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:38:54 INFO: [Worker 0] Worker 0 starting house 5319 (index 56/114) [pipeline.py: 473] +05/27 08:38:54 INFO: [Worker 0] Loaded 1 episodes for house 5319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 08:38:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:38:57 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 08:39:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5319_ceiling.xml [task_sampler.py: 797] +05/27 08:39:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5319, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:39:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:39:02 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/27 08:39:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:39:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:39:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:39:02 INFO: [Worker 0] Sampled task 'Pick up the red and white can and place it next to the smooth rounded ceramic bowl with rim' [task_sampler.py: 1136] +05/27 08:39:02 INFO: [Worker 0] Worker 0 house 5319 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:39:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:39:02 WARNING: [Worker 0] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene [object_manager.py: 1238] +05/27 08:39:02 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene [object_manager.py: 1238] +05/27 08:39:02 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_2_0_5 in scene [object_manager.py: 1238] +05/27 08:39:02 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 08:39:02 WARNING: [Worker 0] Could not find object objanaturalsponge_9a1d1f335f274039bf791192c39dcc7b_1_0_9 in scene [object_manager.py: 1238] +05/27 08:39:02 WARNING: [Worker 0] Could not find object objatapedispenser_fdf53823d30f4fed9a5423d6b6cbfad1_1_0_9 in scene [object_manager.py: 1238] +05/27 08:39:02 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_9 in scene [object_manager.py: 1238] +05/27 08:42:30 INFO: [Worker 0] Worker 0 house 5319 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:42:34 INFO: [Worker 0] Batching and saving trajectory data for house_5319: 1 episodes [pipeline.py: 233] +05/27 08:42:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:42:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:42:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5319 [save_utils.py: 703] +05/27 08:42:37 INFO: [Worker 0] Successfully saved trajectory data for house_5319 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 08:42:38 WARNING: [Worker 0] No trajectory data to save for house_5319 [pipeline.py: 229] +05/27 08:42:38 INFO: [Worker 0] Worker 0 completed house 5319: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:42:38 INFO: [Worker 0] Worker 0 starting house 5449 (index 57/114) [pipeline.py: 473] +05/27 08:42:38 INFO: [Worker 0] Loaded 1 episodes for house 5449 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 08:42:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:42:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5449_ceiling.xml [task_sampler.py: 797] +05/27 08:42:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5449, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:42:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:42:50 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/27 08:42:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:42:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:42:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:42:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:42:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:42:51 INFO: [Worker 0] Sampled task 'Pick up the square blue plate and place it next to the vintage green military radio with handle' [task_sampler.py: 1136] +05/27 08:42:51 INFO: [Worker 0] Worker 0 house 5449 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:42:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:44:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:55:15 INFO: [Worker 0] Worker 0 house 5449 episode 0 object plate_838def382388bb29da57a8cddc03b072_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 08:55:19 INFO: [Worker 0] Batching and saving trajectory data for house_5449: 1 episodes [pipeline.py: 233] +05/27 08:55:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:55:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:55:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5449 [save_utils.py: 703] +05/27 08:55:21 INFO: [Worker 0] Successfully saved trajectory data for house_5449 in 2.38s (batch: 2.29s, save: 0.09s) [pipeline.py: 280] +05/27 08:55:22 WARNING: [Worker 0] No trajectory data to save for house_5449 [pipeline.py: 229] +05/27 08:55:22 INFO: [Worker 0] Worker 0 completed house 5449: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:55:22 INFO: [Worker 0] Worker 0 starting house 5539 (index 58/114) [pipeline.py: 473] +05/27 08:55:22 INFO: [Worker 0] Loaded 1 episodes for house 5539 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 08:55:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:55:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5539_ceiling.xml [task_sampler.py: 797] +05/27 08:55:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5539, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:55:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:55:26 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/27 08:55:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:55:26 INFO: [Worker 0] Sampled task 'Pick up the circular disc with colorful front design and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 08:55:26 INFO: [Worker 0] Worker 0 house 5539 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:55:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:57:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:05:25 INFO: [Worker 0] Worker 0 house 5539 episode 0 object objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 09:05:28 INFO: [Worker 0] Batching and saving trajectory data for house_5539: 1 episodes [pipeline.py: 233] +05/27 09:05:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:05:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:05:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5539 [save_utils.py: 703] +05/27 09:05:31 INFO: [Worker 0] Successfully saved trajectory data for house_5539 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 09:05:31 WARNING: [Worker 0] No trajectory data to save for house_5539 [pipeline.py: 229] +05/27 09:05:31 INFO: [Worker 0] Worker 0 completed house 5539: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:05:31 INFO: [Worker 0] Worker 0 starting house 5599 (index 59/114) [pipeline.py: 473] +05/27 09:05:31 INFO: [Worker 0] Loaded 1 episodes for house 5599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 09:05:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:05:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5599_ceiling.xml [task_sampler.py: 797] +05/27 09:05:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5599, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:05:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:05:51 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 09:05:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:05:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:05:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:05:51 INFO: [Worker 0] Sampled task 'Pick up the blue emblem with metallic a and text and place it next to the cream candle in blue holder' [task_sampler.py: 1136] +05/27 09:05:51 INFO: [Worker 0] Worker 0 house 5599 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:05:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:05:51 WARNING: [Worker 0] Could not find object objaleafsculpture_291ecf00a4cd46c085e48aeff1ecd473_1_0_6 in scene [object_manager.py: 1238] +05/27 09:05:51 WARNING: [Worker 0] Could not find object objadecorativebow_2c1c2d60cc4b42759400891f80414411_1_0_7 in scene [object_manager.py: 1238] +05/27 09:05:51 WARNING: [Worker 0] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene [object_manager.py: 1238] +05/27 09:05:51 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_7 in scene [object_manager.py: 1238] +05/27 09:05:51 WARNING: [Worker 0] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_7 in scene [object_manager.py: 1238] +05/27 09:07:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:19:13 INFO: [Worker 0] Worker 0 house 5599 episode 0 object objadecorativeemblem_dc44a9d16aaa4b61addce2a8480f54f6_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 09:19:16 INFO: [Worker 0] Batching and saving trajectory data for house_5599: 1 episodes [pipeline.py: 233] +05/27 09:19:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:19:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:19:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5599 [save_utils.py: 703] +05/27 09:19:19 INFO: [Worker 0] Successfully saved trajectory data for house_5599 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 09:19:19 WARNING: [Worker 0] No trajectory data to save for house_5599 [pipeline.py: 229] +05/27 09:19:19 INFO: [Worker 0] Worker 0 completed house 5599: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:19:19 INFO: [Worker 0] Worker 0 starting house 5654 (index 60/114) [pipeline.py: 473] +05/27 09:19:19 INFO: [Worker 0] Loaded 1 episodes for house 5654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 09:19:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:19:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5654_ceiling.xml [task_sampler.py: 797] +05/27 09:19:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5654, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:19:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:19:41 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/27 09:19:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:19:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:19:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:19:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:19:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:19:41 INFO: [Worker 0] Sampled task 'Pick up the dark gemstone and place it next to the smooth shallow light brown bowl' [task_sampler.py: 1136] +05/27 09:19:41 INFO: [Worker 0] Worker 0 house 5654 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:19:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:21:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:37:45 INFO: [Worker 0] Worker 0 house 5654 episode 0 object objagemstone_175e4e432e6f4304af73c7fff56be773_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 09:37:48 INFO: [Worker 0] Batching and saving trajectory data for house_5654: 1 episodes [pipeline.py: 233] +05/27 09:37:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:37:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:37:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5654 [save_utils.py: 703] +05/27 09:37:51 INFO: [Worker 0] Successfully saved trajectory data for house_5654 in 2.41s (batch: 2.31s, save: 0.10s) [pipeline.py: 280] +05/27 09:37:51 WARNING: [Worker 0] No trajectory data to save for house_5654 [pipeline.py: 229] +05/27 09:37:51 INFO: [Worker 0] Worker 0 completed house 5654: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:37:51 INFO: [Worker 0] Worker 0 starting house 5758 (index 61/114) [pipeline.py: 473] +05/27 09:37:51 INFO: [Worker 0] Loaded 1 episodes for house 5758 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 09:37:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:38:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5758_ceiling.xml [task_sampler.py: 797] +05/27 09:38:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5758, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:38:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:38:24 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 09:38:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:38:24 INFO: [Worker 0] Sampled task 'Pick up the green gemstone and place it next to the matte dark gray bowl' [task_sampler.py: 1136] +05/27 09:38:24 INFO: [Worker 0] Worker 0 house 5758 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:38:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:39:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:51:33 INFO: [Worker 0] Worker 0 house 5758 episode 0 object objagemstone_3a9d89ec0d6642ee8a8fc42a1361c701_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 09:51:37 INFO: [Worker 0] Batching and saving trajectory data for house_5758: 1 episodes [pipeline.py: 233] +05/27 09:51:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:51:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:51:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5758 [save_utils.py: 703] +05/27 09:51:39 INFO: [Worker 0] Successfully saved trajectory data for house_5758 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 09:51:40 WARNING: [Worker 0] No trajectory data to save for house_5758 [pipeline.py: 229] +05/27 09:51:40 INFO: [Worker 0] Worker 0 completed house 5758: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:51:40 INFO: [Worker 0] Worker 0 starting house 5880 (index 62/114) [pipeline.py: 473] +05/27 09:51:40 INFO: [Worker 0] Loaded 1 episodes for house 5880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 09:51:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:52:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5880_ceiling.xml [task_sampler.py: 797] +05/27 09:52:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5880, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:52:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:52:09 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 09:52:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:52:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:52:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:52:09 INFO: [Worker 0] Sampled task 'Pick up the blue rectangular alarm clock with knob and place it next to the iridescent translucent blue star ornament' [task_sampler.py: 1136] +05/27 09:52:09 INFO: [Worker 0] Worker 0 house 5880 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:52:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:52:09 WARNING: [Worker 0] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_3 in scene [object_manager.py: 1238] +05/27 09:52:09 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_3 in scene [object_manager.py: 1238] +05/27 10:06:49 INFO: [Worker 0] Worker 0 house 5880 episode 0 object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 10:06:52 INFO: [Worker 0] Batching and saving trajectory data for house_5880: 1 episodes [pipeline.py: 233] +05/27 10:06:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:06:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:06:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5880 [save_utils.py: 703] +05/27 10:06:55 INFO: [Worker 0] Successfully saved trajectory data for house_5880 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 10:06:56 WARNING: [Worker 0] No trajectory data to save for house_5880 [pipeline.py: 229] +05/27 10:06:56 INFO: [Worker 0] Worker 0 completed house 5880: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:06:56 INFO: [Worker 0] Worker 0 starting house 5915 (index 63/114) [pipeline.py: 473] +05/27 10:06:56 INFO: [Worker 0] Loaded 1 episodes for house 5915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 10:06:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:07:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5915_ceiling.xml [task_sampler.py: 797] +05/27 10:07:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5915, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:07:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:07:13 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/27 10:07:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:07:13 INFO: [Worker 0] Sampled task 'Pick up the storage device and place it next to the ornate vintage brass bell' [task_sampler.py: 1136] +05/27 10:07:13 INFO: [Worker 0] Worker 0 house 5915 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:07:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:23:38 INFO: [Worker 0] Worker 0 house 5915 episode 0 object objaminidvtape_8ce4607326784eda8675e3bcfb11ff6f_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 10:23:42 INFO: [Worker 0] Batching and saving trajectory data for house_5915: 1 episodes [pipeline.py: 233] +05/27 10:23:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:23:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:23:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5915 [save_utils.py: 703] +05/27 10:23:44 INFO: [Worker 0] Successfully saved trajectory data for house_5915 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 10:23:45 WARNING: [Worker 0] No trajectory data to save for house_5915 [pipeline.py: 229] +05/27 10:23:45 INFO: [Worker 0] Worker 0 completed house 5915: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:23:45 INFO: [Worker 0] Worker 0 starting house 6030 (index 64/114) [pipeline.py: 473] +05/27 10:23:45 INFO: [Worker 0] Loaded 1 episodes for house 6030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 10:23:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:23:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6030_ceiling.xml [task_sampler.py: 797] +05/27 10:23:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6030, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:23:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:23:50 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 10:23:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:23:50 INFO: [Worker 0] Sampled task 'Pick up the slender wooden needle with hole and place it next to the handheld drill' [task_sampler.py: 1136] +05/27 10:23:50 INFO: [Worker 0] Worker 0 house 6030 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:23:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:34:28 INFO: [Worker 0] Worker 0 house 6030 episode 0 object objaneedle_9abd71cdbfbd4af8a900b0fb4b3f2d70_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 10:34:32 INFO: [Worker 0] Batching and saving trajectory data for house_6030: 1 episodes [pipeline.py: 233] +05/27 10:34:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:34:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:34:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6030 [save_utils.py: 703] +05/27 10:34:34 INFO: [Worker 0] Successfully saved trajectory data for house_6030 in 2.52s (batch: 2.43s, save: 0.09s) [pipeline.py: 280] +05/27 10:34:35 WARNING: [Worker 0] No trajectory data to save for house_6030 [pipeline.py: 229] +05/27 10:34:35 INFO: [Worker 0] Worker 0 completed house 6030: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:34:35 INFO: [Worker 0] Worker 0 starting house 6072 (index 65/114) [pipeline.py: 473] +05/27 10:34:35 INFO: [Worker 0] Loaded 2 episodes for house 6072 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 10:34:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:34:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6072_ceiling.xml [task_sampler.py: 797] +05/27 10:34:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6072, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:34:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:34:58 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 10:34:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:34:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:34:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:34:58 INFO: [Worker 0] Sampled task 'Pick up the vintage metal drafting compass with handle and place it next to the black gas mask with cross symbol' [task_sampler.py: 1136] +05/27 10:34:58 INFO: [Worker 0] Worker 0 house 6072 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 10:34:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:34:58 WARNING: [Worker 0] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene [object_manager.py: 1238] +05/27 10:34:58 WARNING: [Worker 0] Could not find object objaspraycan_2d786307e3f14da89e0056b8675f340f_1_0_5 in scene [object_manager.py: 1238] +05/27 10:36:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:50:45 INFO: [Worker 0] Worker 0 house 6072 episode 0 object objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 10:50:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:50:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6072_ceiling.xml [task_sampler.py: 797] +05/27 10:50:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6072, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:50:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:50:53 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 10:50:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:50:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:50:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:50:53 INFO: [Worker 0] Sampled task 'Pick up the crumpled silver metallic foil and place it next to the switch plate' [task_sampler.py: 1136] +05/27 10:50:53 INFO: [Worker 0] Worker 0 house 6072 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 10:50:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:50:53 WARNING: [Worker 0] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene [object_manager.py: 1238] +05/27 10:50:53 WARNING: [Worker 0] Could not find object objaspraycan_2d786307e3f14da89e0056b8675f340f_1_0_5 in scene [object_manager.py: 1238] +05/27 10:52:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:06:52 INFO: [Worker 0] Worker 0 house 6072 episode 1 object objafoil_67f6e895f5f34572afc152008228d819_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 11:06:55 INFO: [Worker 0] Batching and saving trajectory data for house_6072: 2 episodes [pipeline.py: 233] +05/27 11:06:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:06:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:07:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:07:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:07:00 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6072 [save_utils.py: 703] +05/27 11:07:00 INFO: [Worker 0] Successfully saved trajectory data for house_6072 in 5.04s (batch: 4.87s, save: 0.17s) [pipeline.py: 280] +05/27 11:07:01 WARNING: [Worker 0] No trajectory data to save for house_6072 [pipeline.py: 229] +05/27 11:07:01 INFO: [Worker 0] Worker 0 completed house 6072: 0/2 successful episodes [pipeline.py: 1243] +05/27 11:07:01 INFO: [Worker 0] Worker 0 starting house 6102 (index 66/114) [pipeline.py: 473] +05/27 11:07:01 INFO: [Worker 0] Loaded 1 episodes for house 6102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 11:07:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:07:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6102_ceiling.xml [task_sampler.py: 797] +05/27 11:07:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6102, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:07:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:07:27 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects [json_eval_task_sampler.py: 686] +05/27 11:07:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:07:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:07:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:07:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:07:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:07:27 INFO: [Worker 0] Sampled task 'Pick up the small green artificial aloe plant and place it next to the translucent plastic ergonomic spray bottle' [task_sampler.py: 1136] +05/27 11:07:27 INFO: [Worker 0] Worker 0 house 6102 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:07:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:07:27 WARNING: [Worker 0] Could not find object objadog_8e613ab54ccb486c80a5042e8ff7424c_1_0_6 in scene [object_manager.py: 1238] +05/27 11:07:27 WARNING: [Worker 0] Could not find object vase_5e3958a310670d88fd4347b82c234dda_1_0_6 in scene [object_manager.py: 1238] +05/27 11:09:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:26:58 INFO: [Worker 0] Worker 0 house 6102 episode 0 object objaartificialplant_23ce2fda23bb4e68a289675be2ce511e_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:27:02 INFO: [Worker 0] Batching and saving trajectory data for house_6102: 1 episodes [pipeline.py: 233] +05/27 11:27:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:27:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:27:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6102 [save_utils.py: 703] +05/27 11:27:04 INFO: [Worker 0] Successfully saved trajectory data for house_6102 in 2.52s (batch: 2.43s, save: 0.09s) [pipeline.py: 280] +05/27 11:27:05 WARNING: [Worker 0] No trajectory data to save for house_6102 [pipeline.py: 229] +05/27 11:27:05 INFO: [Worker 0] Worker 0 completed house 6102: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:27:05 INFO: [Worker 0] Worker 0 starting house 6199 (index 67/114) [pipeline.py: 473] +05/27 11:27:05 INFO: [Worker 0] Loaded 1 episodes for house 6199 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 11:27:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:27:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6199_ceiling.xml [task_sampler.py: 797] +05/27 11:27:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6199, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:27:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:27:15 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/27 11:27:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:27:15 INFO: [Worker 0] Sampled task 'Pick up the fresh ginger root with colorful shoots and place it next to the rectangular red metal toaster with controls' [task_sampler.py: 1136] +05/27 11:27:15 INFO: [Worker 0] Worker 0 house 6199 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:27:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:28:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:35:40 INFO: [Worker 0] Worker 0 house 6199 episode 0 object objagingerroot_302be40cdf08485aac1111f39e70dbd0_2_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:35:44 INFO: [Worker 0] Batching and saving trajectory data for house_6199: 1 episodes [pipeline.py: 233] +05/27 11:35:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:35:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:35:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6199 [save_utils.py: 703] +05/27 11:35:46 INFO: [Worker 0] Successfully saved trajectory data for house_6199 in 2.58s (batch: 2.49s, save: 0.09s) [pipeline.py: 280] +05/27 11:35:47 WARNING: [Worker 0] No trajectory data to save for house_6199 [pipeline.py: 229] +05/27 11:35:47 INFO: [Worker 0] Worker 0 completed house 6199: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:35:47 INFO: [Worker 0] Worker 0 starting house 6252 (index 68/114) [pipeline.py: 473] +05/27 11:35:47 INFO: [Worker 0] Loaded 1 episodes for house 6252 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 11:35:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:35:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6252_ceiling.xml [task_sampler.py: 797] +05/27 11:35:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6252, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:35:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:35:59 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/27 11:35:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:35:59 INFO: [Worker 0] Sampled task 'Pick up the yellow handheld gps and place it next to the round loaf with brown crust' [task_sampler.py: 1136] +05/27 11:35:59 INFO: [Worker 0] Worker 0 house 6252 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:35:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:37:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:46:58 INFO: [Worker 0] Worker 0 house 6252 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 11:47:01 INFO: [Worker 0] Batching and saving trajectory data for house_6252: 1 episodes [pipeline.py: 233] +05/27 11:47:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:47:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:47:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6252 [save_utils.py: 703] +05/27 11:47:04 INFO: [Worker 0] Successfully saved trajectory data for house_6252 in 2.36s (batch: 2.27s, save: 0.09s) [pipeline.py: 280] +05/27 11:47:04 WARNING: [Worker 0] No trajectory data to save for house_6252 [pipeline.py: 229] +05/27 11:47:04 INFO: [Worker 0] Worker 0 completed house 6252: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:47:04 INFO: [Worker 0] Worker 0 starting house 6298 (index 69/114) [pipeline.py: 473] +05/27 11:47:04 INFO: [Worker 0] Loaded 1 episodes for house 6298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 11:47:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:47:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6298_ceiling.xml [task_sampler.py: 797] +05/27 11:47:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6298, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:47:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:47:13 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 11:47:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:47:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:47:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:47:13 INFO: [Worker 0] Sampled task 'Pick up the terracotta owl vessel with spout and place it next to the blue toy monster truck' [task_sampler.py: 1136] +05/27 11:47:13 INFO: [Worker 0] Worker 0 house 6298 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:47:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:48:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:51:24 INFO: [Worker 0] Worker 0 house 6298 episode 0 object objavessel_8bd6e267f265481682e17f696b201103_1_0_6 completed with success=True [pipeline.py: 1114] +05/27 11:51:27 INFO: [Worker 0] Batching and saving trajectory data for house_6298: 1 episodes [pipeline.py: 233] +05/27 11:51:27 INFO: [Worker 0] Preparing episode data: 118 timesteps [save_utils.py: 284] +05/27 11:51:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:51:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6298 [save_utils.py: 703] +05/27 11:51:30 INFO: [Worker 0] Successfully saved trajectory data for house_6298 in 2.33s (batch: 2.29s, save: 0.04s) [pipeline.py: 280] +05/27 11:51:30 WARNING: [Worker 0] No trajectory data to save for house_6298 [pipeline.py: 229] +05/27 11:51:30 INFO: [Worker 0] Worker 0 completed house 6298: 1/1 successful episodes [pipeline.py: 1243] +05/27 11:51:30 INFO: [Worker 0] Worker 0 starting house 6382 (index 70/114) [pipeline.py: 473] +05/27 11:51:30 INFO: [Worker 0] Loaded 1 episodes for house 6382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 11:51:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:51:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6382_ceiling.xml [task_sampler.py: 797] +05/27 11:51:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6382, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:51:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:51:47 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/27 11:51:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:51:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:51:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:51:47 INFO: [Worker 0] Sampled task 'Pick up the stylized blue fish with yellow fins and place it next to the fresh green spherical head lettuce' [task_sampler.py: 1136] +05/27 11:51:47 INFO: [Worker 0] Worker 0 house 6382 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:51:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:51:47 WARNING: [Worker 0] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_5 in scene [object_manager.py: 1238] +05/27 11:51:47 WARNING: [Worker 0] Could not find object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6 in scene [object_manager.py: 1238] +05/27 11:53:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:09:45 INFO: [Worker 0] Worker 0 house 6382 episode 0 object objatoyfish_ce9b4915b37042308e4e6dadbcf91087_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 12:09:48 INFO: [Worker 0] Batching and saving trajectory data for house_6382: 1 episodes [pipeline.py: 233] +05/27 12:09:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:09:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:09:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6382 [save_utils.py: 703] +05/27 12:09:51 INFO: [Worker 0] Successfully saved trajectory data for house_6382 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 12:09:51 WARNING: [Worker 0] No trajectory data to save for house_6382 [pipeline.py: 229] +05/27 12:09:51 INFO: [Worker 0] Worker 0 completed house 6382: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:09:51 INFO: [Worker 0] Worker 0 starting house 6438 (index 71/114) [pipeline.py: 473] +05/27 12:09:51 INFO: [Worker 0] Loaded 1 episodes for house 6438 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 12:09:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:10:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6438_ceiling.xml [task_sampler.py: 797] +05/27 12:10:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6438, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:10:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:10:09 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects [json_eval_task_sampler.py: 686] +05/27 12:10:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:10:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:10:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:10:09 INFO: [Worker 0] Sampled task 'Pick up the hand tool and place it next to the chunky pink and white knitted beanie' [task_sampler.py: 1136] +05/27 12:10:09 INFO: [Worker 0] Worker 0 house 6438 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:10:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:10:09 WARNING: [Worker 0] Could not find object objagardentrowel_f4d44155b3c04a0aaedd5c90428d52e3_1_0_8 in scene [object_manager.py: 1238] +05/27 12:10:09 WARNING: [Worker 0] Could not find object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_8 in scene [object_manager.py: 1238] +05/27 12:30:25 INFO: [Worker 0] Worker 0 house 6438 episode 0 object objaawl_a001d9c9ea68400d9e57893975d3d39d_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 12:30:28 INFO: [Worker 0] Batching and saving trajectory data for house_6438: 1 episodes [pipeline.py: 233] +05/27 12:30:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:30:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:30:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6438 [save_utils.py: 703] +05/27 12:30:31 INFO: [Worker 0] Successfully saved trajectory data for house_6438 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/27 12:30:31 WARNING: [Worker 0] No trajectory data to save for house_6438 [pipeline.py: 229] +05/27 12:30:31 INFO: [Worker 0] Worker 0 completed house 6438: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:30:31 INFO: [Worker 0] Worker 0 starting house 6538 (index 72/114) [pipeline.py: 473] +05/27 12:30:31 INFO: [Worker 0] Loaded 1 episodes for house 6538 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 12:30:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:30:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6538_ceiling.xml [task_sampler.py: 797] +05/27 12:30:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6538, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:30:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:30:46 INFO: [Worker 0] randomize_scene: Setting poses for 101 objects [json_eval_task_sampler.py: 686] +05/27 12:30:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:30:46 INFO: [Worker 0] Sampled task 'Pick up the elongated rough dried fish and place it next to the tall dark cup' [task_sampler.py: 1136] +05/27 12:30:46 INFO: [Worker 0] Worker 0 house 6538 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:30:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:30:46 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene [object_manager.py: 1238] +05/27 12:30:46 WARNING: [Worker 0] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene [object_manager.py: 1238] +05/27 12:30:46 WARNING: [Worker 0] Could not find object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_7 in scene [object_manager.py: 1238] +05/27 12:30:46 WARNING: [Worker 0] Could not find object objatoyjet_df89e1dd4ea349ee9290de90ae4bef05_1_0_7 in scene [object_manager.py: 1238] +05/27 12:30:46 WARNING: [Worker 0] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_9 in scene [object_manager.py: 1238] +05/27 12:50:50 INFO: [Worker 0] Worker 0 house 6538 episode 0 object objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_2_0_2 completed with success=False [pipeline.py: 1114] +05/27 12:50:54 INFO: [Worker 0] Batching and saving trajectory data for house_6538: 1 episodes [pipeline.py: 233] +05/27 12:50:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:50:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:50:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6538 [save_utils.py: 703] +05/27 12:50:57 INFO: [Worker 0] Successfully saved trajectory data for house_6538 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 12:50:57 WARNING: [Worker 0] No trajectory data to save for house_6538 [pipeline.py: 229] +05/27 12:50:57 INFO: [Worker 0] Worker 0 completed house 6538: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:50:57 INFO: [Worker 0] Worker 0 starting house 6696 (index 73/114) [pipeline.py: 473] +05/27 12:50:57 INFO: [Worker 0] Loaded 1 episodes for house 6696 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 12:50:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:51:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6696_ceiling.xml [task_sampler.py: 797] +05/27 12:51:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6696, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:51:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:51:12 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 12:51:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:51:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:51:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:51:12 INFO: [Worker 0] Sampled task 'Pick up the white stand with flag and place it next to the white analog stopwatch' [task_sampler.py: 1136] +05/27 12:51:12 INFO: [Worker 0] Worker 0 house 6696 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:51:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:04:39 INFO: [Worker 0] Worker 0 house 6696 episode 0 object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 13:04:42 INFO: [Worker 0] Batching and saving trajectory data for house_6696: 1 episodes [pipeline.py: 233] +05/27 13:04:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:04:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:04:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6696 [save_utils.py: 703] +05/27 13:04:45 INFO: [Worker 0] Successfully saved trajectory data for house_6696 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 13:04:46 WARNING: [Worker 0] No trajectory data to save for house_6696 [pipeline.py: 229] +05/27 13:04:46 INFO: [Worker 0] Worker 0 completed house 6696: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:04:46 INFO: [Worker 0] Worker 0 starting house 6758 (index 74/114) [pipeline.py: 473] +05/27 13:04:46 INFO: [Worker 0] Loaded 1 episodes for house 6758 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 13:04:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:05:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6758_ceiling.xml [task_sampler.py: 797] +05/27 13:05:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6758, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:05:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:05:00 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 13:05:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:05:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:05:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:05:00 INFO: [Worker 0] Sampled task 'Pick up the shiny metallic coil spring cylinder and place it next to the sleek adjustable black silver arm' [task_sampler.py: 1136] +05/27 13:05:00 INFO: [Worker 0] Worker 0 house 6758 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:05:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:06:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:18:43 INFO: [Worker 0] Worker 0 house 6758 episode 0 object objacoilspring_bff10a4e7bb14d6f860f861f54134543_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 13:18:47 INFO: [Worker 0] Batching and saving trajectory data for house_6758: 1 episodes [pipeline.py: 233] +05/27 13:18:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:18:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:18:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6758 [save_utils.py: 703] +05/27 13:18:50 INFO: [Worker 0] Successfully saved trajectory data for house_6758 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 13:18:51 WARNING: [Worker 0] No trajectory data to save for house_6758 [pipeline.py: 229] +05/27 13:18:51 INFO: [Worker 0] Worker 0 completed house 6758: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:18:51 INFO: [Worker 0] Worker 0 starting house 6883 (index 75/114) [pipeline.py: 473] +05/27 13:18:51 INFO: [Worker 0] Loaded 1 episodes for house 6883 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 13:18:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:19:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6883_ceiling.xml [task_sampler.py: 797] +05/27 13:19:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6883, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:19:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:19:06 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 13:19:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:19:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:19:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:19:06 INFO: [Worker 0] Sampled task 'Pick up the promotional sign and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 13:19:06 INFO: [Worker 0] Worker 0 house 6883 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:19:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:19:06 WARNING: [Worker 0] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_8 in scene [object_manager.py: 1238] +05/27 13:19:06 WARNING: [Worker 0] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_8 in scene [object_manager.py: 1238] +05/27 13:20:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:24:40 INFO: [Worker 0] Worker 0 house 6883 episode 0 object objasign_391b2617850d489e8e717d00c24eada6_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 13:24:44 INFO: [Worker 0] Batching and saving trajectory data for house_6883: 1 episodes [pipeline.py: 233] +05/27 13:24:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:24:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:24:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6883 [save_utils.py: 703] +05/27 13:24:46 INFO: [Worker 0] Successfully saved trajectory data for house_6883 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 13:24:47 WARNING: [Worker 0] No trajectory data to save for house_6883 [pipeline.py: 229] +05/27 13:24:47 INFO: [Worker 0] Worker 0 completed house 6883: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:24:47 INFO: [Worker 0] Worker 0 starting house 6937 (index 76/114) [pipeline.py: 473] +05/27 13:24:47 INFO: [Worker 0] Loaded 1 episodes for house 6937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 13:24:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:25:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6937_ceiling.xml [task_sampler.py: 797] +05/27 13:25:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6937, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:25:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:25:04 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 13:25:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:25:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:25:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:25:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:25:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:25:04 INFO: [Worker 0] Sampled task 'Pick up the jagged white marble piece with veins and place it next to the green hardcover book titled the effective engineer' [task_sampler.py: 1136] +05/27 13:25:04 INFO: [Worker 0] Worker 0 house 6937 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:25:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:40:30 INFO: [Worker 0] Worker 0 house 6937 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 13:40:34 INFO: [Worker 0] Batching and saving trajectory data for house_6937: 1 episodes [pipeline.py: 233] +05/27 13:40:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:40:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:40:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6937 [save_utils.py: 703] +05/27 13:40:37 INFO: [Worker 0] Successfully saved trajectory data for house_6937 in 2.69s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 13:40:38 WARNING: [Worker 0] No trajectory data to save for house_6937 [pipeline.py: 229] +05/27 13:40:38 INFO: [Worker 0] Worker 0 completed house 6937: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:40:38 INFO: [Worker 0] Worker 0 starting house 7012 (index 77/114) [pipeline.py: 473] +05/27 13:40:38 INFO: [Worker 0] Loaded 1 episodes for house 7012 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 13:40:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:41:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7012_ceiling.xml [task_sampler.py: 797] +05/27 13:41:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7012, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:41:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:41:02 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/27 13:41:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:41:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:41:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:41:02 INFO: [Worker 0] Sampled task 'Pick up the round ceramic plate with floral pattern and place it next to the golden brown artisanal loaf of bread' [task_sampler.py: 1136] +05/27 13:41:02 INFO: [Worker 0] Worker 0 house 7012 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:41:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:41:03 WARNING: [Worker 0] Could not find object objawindmillmodel_15999570dd354b0d85d17501a7bd7d8f_1_0_4 in scene [object_manager.py: 1238] +05/27 13:41:03 WARNING: [Worker 0] Could not find object objaexplosivedevice_8a7070ce4ec14f0c821f620ae171fd20_1_0_4 in scene [object_manager.py: 1238] +05/27 13:41:03 WARNING: [Worker 0] Could not find object objarunningshoe_ed06160ef39c4275ac61b389908ec05f_1_0_5 in scene [object_manager.py: 1238] +05/27 13:41:03 WARNING: [Worker 0] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene [object_manager.py: 1238] +05/27 13:41:03 WARNING: [Worker 0] Could not find object objadecorativepanel_84c1fb3b7b2d41c5883350e73ceade92_1_0_5 in scene [object_manager.py: 1238] +05/27 13:41:03 WARNING: [Worker 0] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_7 in scene [object_manager.py: 1238] +05/27 13:59:44 INFO: [Worker 0] Worker 0 house 7012 episode 0 object objaceramicplate_3b15c410f87f42daa7e8cb5b5f74e3f1_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 13:59:47 INFO: [Worker 0] Batching and saving trajectory data for house_7012: 1 episodes [pipeline.py: 233] +05/27 13:59:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:59:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:59:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7012 [save_utils.py: 703] +05/27 13:59:50 INFO: [Worker 0] Successfully saved trajectory data for house_7012 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 13:59:51 WARNING: [Worker 0] No trajectory data to save for house_7012 [pipeline.py: 229] +05/27 13:59:51 INFO: [Worker 0] Worker 0 completed house 7012: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:59:51 INFO: [Worker 0] Worker 0 starting house 7066 (index 78/114) [pipeline.py: 473] +05/27 13:59:51 INFO: [Worker 0] Loaded 1 episodes for house 7066 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 13:59:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:00:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7066_ceiling.xml [task_sampler.py: 797] +05/27 14:00:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7066, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:00:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:00:28 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 14:00:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:00:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:00:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:00:28 INFO: [Worker 0] Sampled task 'Pick up the shallow metal pot and place it next to the white ceramic bowl' [task_sampler.py: 1136] +05/27 14:00:28 INFO: [Worker 0] Worker 0 house 7066 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:00:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:00:28 WARNING: [Worker 0] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_3 in scene [object_manager.py: 1238] +05/27 14:00:28 WARNING: [Worker 0] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_3 in scene [object_manager.py: 1238] +05/27 14:02:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:15:41 INFO: [Worker 0] Worker 0 house 7066 episode 0 object pot_e212d04be87cc98b4a5251ccfd9e1819_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 14:15:45 INFO: [Worker 0] Batching and saving trajectory data for house_7066: 1 episodes [pipeline.py: 233] +05/27 14:15:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:15:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:15:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7066 [save_utils.py: 703] +05/27 14:15:47 INFO: [Worker 0] Successfully saved trajectory data for house_7066 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 14:15:48 WARNING: [Worker 0] No trajectory data to save for house_7066 [pipeline.py: 229] +05/27 14:15:48 INFO: [Worker 0] Worker 0 completed house 7066: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:15:48 INFO: [Worker 0] Worker 0 starting house 7163 (index 79/114) [pipeline.py: 473] +05/27 14:15:48 INFO: [Worker 0] Loaded 1 episodes for house 7163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 14:15:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:15:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7163_ceiling.xml [task_sampler.py: 797] +05/27 14:15:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7163, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:15:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:15:56 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/27 14:15:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:15:56 INFO: [Worker 0] Sampled task 'Pick up the smooth elongated green cucumber and place it next to the brown goblet' [task_sampler.py: 1136] +05/27 14:15:56 INFO: [Worker 0] Worker 0 house 7163 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:15:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:15:56 WARNING: [Worker 0] Could not find object objalantern_8fc797d63d574f8db310de3b657a41b5_1_0_5 in scene [object_manager.py: 1238] +05/27 14:15:56 WARNING: [Worker 0] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene [object_manager.py: 1238] +05/27 14:17:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:27:58 INFO: [Worker 0] Worker 0 house 7163 episode 0 object objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 14:28:02 INFO: [Worker 0] Batching and saving trajectory data for house_7163: 1 episodes [pipeline.py: 233] +05/27 14:28:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:28:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:28:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7163 [save_utils.py: 703] +05/27 14:28:04 INFO: [Worker 0] Successfully saved trajectory data for house_7163 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 14:28:05 WARNING: [Worker 0] No trajectory data to save for house_7163 [pipeline.py: 229] +05/27 14:28:05 INFO: [Worker 0] Worker 0 completed house 7163: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:28:05 INFO: [Worker 0] Worker 0 starting house 7272 (index 80/114) [pipeline.py: 473] +05/27 14:28:05 INFO: [Worker 0] Loaded 1 episodes for house 7272 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 14:28:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:28:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7272_ceiling.xml [task_sampler.py: 797] +05/27 14:28:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7272, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:28:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:28:09 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 14:28:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:28:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:28:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:28:09 INFO: [Worker 0] Sampled task 'Pick up the adhesive tape and place it next to the conical soap bottle with pump' [task_sampler.py: 1136] +05/27 14:28:09 INFO: [Worker 0] Worker 0 house 7272 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:28:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:29:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:41:57 INFO: [Worker 0] Worker 0 house 7272 episode 0 object objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 14:42:00 INFO: [Worker 0] Batching and saving trajectory data for house_7272: 1 episodes [pipeline.py: 233] +05/27 14:42:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:42:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:42:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7272 [save_utils.py: 703] +05/27 14:42:03 INFO: [Worker 0] Successfully saved trajectory data for house_7272 in 2.44s (batch: 2.35s, save: 0.09s) [pipeline.py: 280] +05/27 14:42:03 WARNING: [Worker 0] No trajectory data to save for house_7272 [pipeline.py: 229] +05/27 14:42:03 INFO: [Worker 0] Worker 0 completed house 7272: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:42:03 INFO: [Worker 0] Worker 0 starting house 7338 (index 81/114) [pipeline.py: 473] +05/27 14:42:03 INFO: [Worker 0] Loaded 1 episodes for house 7338 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 14:42:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:42:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7338_ceiling.xml [task_sampler.py: 797] +05/27 14:42:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7338, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:42:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:42:48 INFO: [Worker 0] randomize_scene: Setting poses for 98 objects [json_eval_task_sampler.py: 686] +05/27 14:42:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:42:48 INFO: [Worker 0] Sampled task 'Pick up the small dark egyptian figure statuette and place it next to the crockery' [task_sampler.py: 1136] +05/27 14:42:48 INFO: [Worker 0] Worker 0 house 7338 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:42:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:42:48 WARNING: [Worker 0] Could not find object objahand_aaa3268584ea48618d88b22cf67505f0_1_0_3 in scene [object_manager.py: 1238] +05/27 14:42:48 WARNING: [Worker 0] Could not find object objastatue_bacc951f013645dab41c56e54a0c5930_1_0_3 in scene [object_manager.py: 1238] +05/27 14:42:48 WARNING: [Worker 0] Could not find object objacarmodel_03c68480c9c34174826f836b6c95c27e_1_0_4 in scene [object_manager.py: 1238] +05/27 14:42:48 WARNING: [Worker 0] Could not find object objatoothpastebox_7aa9002b63e9405e81d9985790acde36_1_0_4 in scene [object_manager.py: 1238] +05/27 15:01:03 INFO: [Worker 0] Worker 0 house 7338 episode 0 object objastatuette_b8fac4517e6b49498fec5e800adc6fcb_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 15:01:06 INFO: [Worker 0] Batching and saving trajectory data for house_7338: 1 episodes [pipeline.py: 233] +05/27 15:01:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:01:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:01:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7338 [save_utils.py: 703] +05/27 15:01:08 INFO: [Worker 0] Successfully saved trajectory data for house_7338 in 2.37s (batch: 2.29s, save: 0.09s) [pipeline.py: 280] +05/27 15:01:09 WARNING: [Worker 0] No trajectory data to save for house_7338 [pipeline.py: 229] +05/27 15:01:09 INFO: [Worker 0] Worker 0 completed house 7338: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:01:09 INFO: [Worker 0] Worker 0 starting house 7375 (index 82/114) [pipeline.py: 473] +05/27 15:01:09 INFO: [Worker 0] Loaded 1 episodes for house 7375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 15:01:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:01:19 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 15:01:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7375_ceiling.xml [task_sampler.py: 797] +05/27 15:01:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7375, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:01:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:01:22 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 15:01:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:01:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:01:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:01:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:01:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:01:22 INFO: [Worker 0] Sampled task 'Pick up the purple flower pot with plant and place it next to the blue soap bottle with orange pump' [task_sampler.py: 1136] +05/27 15:01:22 INFO: [Worker 0] Worker 0 house 7375 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:01:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:01:22 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene [object_manager.py: 1238] +05/27 15:02:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:13:41 INFO: [Worker 0] Worker 0 house 7375 episode 0 object objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 15:13:44 INFO: [Worker 0] Batching and saving trajectory data for house_7375: 1 episodes [pipeline.py: 233] +05/27 15:13:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:13:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:13:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7375 [save_utils.py: 703] +05/27 15:13:47 INFO: [Worker 0] Successfully saved trajectory data for house_7375 in 2.38s (batch: 2.27s, save: 0.10s) [pipeline.py: 280] +05/27 15:13:47 WARNING: [Worker 0] No trajectory data to save for house_7375 [pipeline.py: 229] +05/27 15:13:47 INFO: [Worker 0] Worker 0 completed house 7375: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:13:47 INFO: [Worker 0] Worker 0 starting house 7448 (index 83/114) [pipeline.py: 473] +05/27 15:13:47 INFO: [Worker 0] Loaded 1 episodes for house 7448 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 15:13:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:14:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7448_ceiling.xml [task_sampler.py: 797] +05/27 15:14:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7448, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:14:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:14:06 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects [json_eval_task_sampler.py: 686] +05/27 15:14:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:14:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:14:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:14:07 INFO: [Worker 0] Sampled task 'Pick up the orange toy raygun and place it next to the detailed scale model commercial building' [task_sampler.py: 1136] +05/27 15:14:07 INFO: [Worker 0] Worker 0 house 7448 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:14:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:14:07 WARNING: [Worker 0] Could not find object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_3 in scene [object_manager.py: 1238] +05/27 15:14:07 WARNING: [Worker 0] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_3 in scene [object_manager.py: 1238] +05/27 15:14:07 WARNING: [Worker 0] Could not find object objashoe_a42f14e6d8b7476f8e036cec5e2bc122_1_0_9 in scene [object_manager.py: 1238] +05/27 15:14:07 WARNING: [Worker 0] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_9 in scene [object_manager.py: 1238] +05/27 15:32:28 INFO: [Worker 0] Worker 0 house 7448 episode 0 object objatoyraygun_e2ae085aca5147b7bb963bc408dd774d_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 15:32:32 INFO: [Worker 0] Batching and saving trajectory data for house_7448: 1 episodes [pipeline.py: 233] +05/27 15:32:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:32:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:32:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7448 [save_utils.py: 703] +05/27 15:32:34 INFO: [Worker 0] Successfully saved trajectory data for house_7448 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/27 15:32:35 WARNING: [Worker 0] No trajectory data to save for house_7448 [pipeline.py: 229] +05/27 15:32:35 INFO: [Worker 0] Worker 0 completed house 7448: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:32:35 INFO: [Worker 0] Worker 0 starting house 7505 (index 84/114) [pipeline.py: 473] +05/27 15:32:35 INFO: [Worker 0] Loaded 1 episodes for house 7505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 15:32:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:32:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7505_ceiling.xml [task_sampler.py: 797] +05/27 15:32:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7505, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:32:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:32:49 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/27 15:32:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:32:49 INFO: [Worker 0] Sampled task 'Pick up the smooth off-white dog bone toy and place it next to the stylized red flower with green leaves' [task_sampler.py: 1136] +05/27 15:32:49 INFO: [Worker 0] Worker 0 house 7505 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:32:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:34:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:42:29 INFO: [Worker 0] Worker 0 house 7505 episode 0 object objadogtoy_619ebcad52474517b55ead09935e4a57_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:42:32 INFO: [Worker 0] Batching and saving trajectory data for house_7505: 1 episodes [pipeline.py: 233] +05/27 15:42:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:42:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:42:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7505 [save_utils.py: 703] +05/27 15:42:35 INFO: [Worker 0] Successfully saved trajectory data for house_7505 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 15:42:36 WARNING: [Worker 0] No trajectory data to save for house_7505 [pipeline.py: 229] +05/27 15:42:36 INFO: [Worker 0] Worker 0 completed house 7505: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:42:36 INFO: [Worker 0] Worker 0 starting house 7631 (index 85/114) [pipeline.py: 473] +05/27 15:42:36 INFO: [Worker 0] Loaded 1 episodes for house 7631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 15:42:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:42:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7631_ceiling.xml [task_sampler.py: 797] +05/27 15:42:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7631, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:42:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:42:58 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 15:42:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:42:58 INFO: [Worker 0] Sampled task 'Pick up the black vintage camera with rainbow stripe and place it next to the gold pump bottle' [task_sampler.py: 1136] +05/27 15:42:58 INFO: [Worker 0] Worker 0 house 7631 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:42:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:42:58 WARNING: [Worker 0] Could not find object objaskull_60ad026c0f424aa29edfa947e4921276_1_0_6 in scene [object_manager.py: 1238] +05/27 15:44:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:57:07 INFO: [Worker 0] Worker 0 house 7631 episode 0 object objainstantcamera_e5b7a512a7834420b3dfc5bc15d3bdf6_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 15:57:11 INFO: [Worker 0] Batching and saving trajectory data for house_7631: 1 episodes [pipeline.py: 233] +05/27 15:57:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:57:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:57:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7631 [save_utils.py: 703] +05/27 15:57:13 INFO: [Worker 0] Successfully saved trajectory data for house_7631 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 15:57:14 WARNING: [Worker 0] No trajectory data to save for house_7631 [pipeline.py: 229] +05/27 15:57:14 INFO: [Worker 0] Worker 0 completed house 7631: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:57:14 INFO: [Worker 0] Worker 0 starting house 7748 (index 86/114) [pipeline.py: 473] +05/27 15:57:14 INFO: [Worker 0] Loaded 1 episodes for house 7748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 15:57:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:57:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7748_ceiling.xml [task_sampler.py: 797] +05/27 15:57:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7748, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:57:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:57:38 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/27 15:57:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:57:38 INFO: [Worker 0] Sampled task 'Pick up the glossy colorful rubik's cube puzzle and place it next to the brown wooden bowl' [task_sampler.py: 1136] +05/27 15:57:38 INFO: [Worker 0] Worker 0 house 7748 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:57:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:57:38 WARNING: [Worker 0] Could not find object objasneaker_129920be953d458a941ea1f33599a5bf_1_0_5 in scene [object_manager.py: 1238] +05/27 15:57:38 WARNING: [Worker 0] Could not find object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_5 in scene [object_manager.py: 1238] +05/27 15:57:38 WARNING: [Worker 0] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_7 in scene [object_manager.py: 1238] +05/27 16:12:59 INFO: [Worker 0] Worker 0 house 7748 episode 0 object objapuzzle_a04ff652820c465da4ba7a427fd34417_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 16:13:02 INFO: [Worker 0] Batching and saving trajectory data for house_7748: 1 episodes [pipeline.py: 233] +05/27 16:13:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:13:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:13:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7748 [save_utils.py: 703] +05/27 16:13:05 INFO: [Worker 0] Successfully saved trajectory data for house_7748 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 16:13:05 WARNING: [Worker 0] No trajectory data to save for house_7748 [pipeline.py: 229] +05/27 16:13:05 INFO: [Worker 0] Worker 0 completed house 7748: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:13:05 INFO: [Worker 0] Worker 0 starting house 7843 (index 87/114) [pipeline.py: 473] +05/27 16:13:05 INFO: [Worker 0] Loaded 1 episodes for house 7843 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 16:13:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:13:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7843_ceiling.xml [task_sampler.py: 797] +05/27 16:13:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7843, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:13:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:13:18 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/27 16:13:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:13:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:13:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:13:18 INFO: [Worker 0] Sampled task 'Pick up the blue four-sided die and place it next to the blue liquid bottle' [task_sampler.py: 1136] +05/27 16:13:18 INFO: [Worker 0] Worker 0 house 7843 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:13:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:13:18 WARNING: [Worker 0] Could not find object pillow_6afe3635cad7781073478ce57191cfc3_2_0_7 in scene [object_manager.py: 1238] +05/27 16:13:18 WARNING: [Worker 0] Could not find object laptop_b7727b77b84280c50b68099ba174d84e_1_0_7 in scene [object_manager.py: 1238] +05/27 16:14:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:29:29 INFO: [Worker 0] Worker 0 house 7843 episode 0 object objadie_7df438532d2f4567a87fb61f0336ad57_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 16:29:32 INFO: [Worker 0] Batching and saving trajectory data for house_7843: 1 episodes [pipeline.py: 233] +05/27 16:29:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:29:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:29:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7843 [save_utils.py: 703] +05/27 16:29:35 INFO: [Worker 0] Successfully saved trajectory data for house_7843 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 16:29:35 WARNING: [Worker 0] No trajectory data to save for house_7843 [pipeline.py: 229] +05/27 16:29:35 INFO: [Worker 0] Worker 0 completed house 7843: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:29:35 INFO: [Worker 0] Worker 0 starting house 7929 (index 88/114) [pipeline.py: 473] +05/27 16:29:35 INFO: [Worker 0] Loaded 1 episodes for house 7929 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 16:29:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:30:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7929_ceiling.xml [task_sampler.py: 797] +05/27 16:30:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7929, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:30:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:30:02 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 16:30:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:30:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:30:02 INFO: [Worker 0] Sampled task 'Pick up the green circuit board with labeled connectors and place it next to the yellow rectangular box with branding' [task_sampler.py: 1136] +05/27 16:30:02 INFO: [Worker 0] Worker 0 house 7929 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:30:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:30:02 WARNING: [Worker 0] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_3_0_5 in scene [object_manager.py: 1238] +05/27 16:30:02 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/27 16:46:59 INFO: [Worker 0] Worker 0 house 7929 episode 0 object objacircuitboard_514169482d3b42378dd5131d6e411b59_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 16:47:03 INFO: [Worker 0] Batching and saving trajectory data for house_7929: 1 episodes [pipeline.py: 233] +05/27 16:47:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:47:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:47:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7929 [save_utils.py: 703] +05/27 16:47:05 INFO: [Worker 0] Successfully saved trajectory data for house_7929 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 16:47:06 WARNING: [Worker 0] No trajectory data to save for house_7929 [pipeline.py: 229] +05/27 16:47:06 INFO: [Worker 0] Worker 0 completed house 7929: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:47:06 INFO: [Worker 0] Worker 0 starting house 8008 (index 89/114) [pipeline.py: 473] +05/27 16:47:06 INFO: [Worker 0] Loaded 1 episodes for house 8008 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 16:47:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:47:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8008_ceiling.xml [task_sampler.py: 797] +05/27 16:47:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8008, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:47:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:47:15 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/27 16:47:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:47:15 INFO: [Worker 0] Sampled task 'Pick up the large stainless steel cooking pot and place it next to the blue ceramic plate' [task_sampler.py: 1136] +05/27 16:47:15 INFO: [Worker 0] Worker 0 house 8008 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:47:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:47:15 WARNING: [Worker 0] Could not find object objaskullmodel_8c534dd087ba4d739243fba8b411e7a6_1_0_4 in scene [object_manager.py: 1238] +05/27 16:47:15 WARNING: [Worker 0] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene [object_manager.py: 1238] +05/27 16:48:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:57:11 INFO: [Worker 0] Worker 0 house 8008 episode 0 object pot_953c9fc3b15d21564e56b7875cf8af20_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 16:57:15 INFO: [Worker 0] Batching and saving trajectory data for house_8008: 1 episodes [pipeline.py: 233] +05/27 16:57:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:57:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:57:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8008 [save_utils.py: 703] +05/27 16:57:18 INFO: [Worker 0] Successfully saved trajectory data for house_8008 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 16:57:18 WARNING: [Worker 0] No trajectory data to save for house_8008 [pipeline.py: 229] +05/27 16:57:18 INFO: [Worker 0] Worker 0 completed house 8008: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:57:18 INFO: [Worker 0] Worker 0 starting house 8063 (index 90/114) [pipeline.py: 473] +05/27 16:57:18 INFO: [Worker 0] Loaded 2 episodes for house 8063 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 16:57:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:57:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8063_ceiling.xml [task_sampler.py: 797] +05/27 16:57:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8063, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:57:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:57:41 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 16:57:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:57:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:57:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:57:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:57:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:57:41 INFO: [Worker 0] Sampled task 'Pick up the blue dna helix and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 16:57:41 INFO: [Worker 0] Worker 0 house 8063 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 16:57:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:59:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:11:37 INFO: [Worker 0] Worker 0 house 8063 episode 0 object objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_5 completed with success=False [pipeline.py: 1114] +05/27 17:11:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:11:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8063_ceiling.xml [task_sampler.py: 797] +05/27 17:11:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8063, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:11:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:11:46 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 17:11:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:11:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:11:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:11:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:11:53 INFO: [Worker 0] Sampled task 'Pick up the blue and white modern electric iron and place it next to the rectangular plaque with astronaut design' [task_sampler.py: 1136] +05/27 17:11:53 INFO: [Worker 0] Worker 0 house 8063 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 17:11:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:25:50 INFO: [Worker 0] Worker 0 house 8063 episode 1 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:25:53 INFO: [Worker 0] Batching and saving trajectory data for house_8063: 2 episodes [pipeline.py: 233] +05/27 17:25:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:25:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:25:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:25:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:25:58 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8063 [save_utils.py: 703] +05/27 17:25:58 INFO: [Worker 0] Successfully saved trajectory data for house_8063 in 4.83s (batch: 4.66s, save: 0.17s) [pipeline.py: 280] +05/27 17:25:59 WARNING: [Worker 0] No trajectory data to save for house_8063 [pipeline.py: 229] +05/27 17:25:59 INFO: [Worker 0] Worker 0 completed house 8063: 0/2 successful episodes [pipeline.py: 1243] +05/27 17:25:59 INFO: [Worker 0] Worker 0 starting house 8111 (index 91/114) [pipeline.py: 473] +05/27 17:25:59 INFO: [Worker 0] Loaded 1 episodes for house 8111 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 17:25:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:26:04 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 17:26:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8111_ceiling.xml [task_sampler.py: 797] +05/27 17:26:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8111, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:26:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:26:06 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/27 17:26:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:26:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:26:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:26:06 INFO: [Worker 0] Sampled task 'Pick up the medium red tomato with small stem and place it next to the fresh green lettuce head with stem' [task_sampler.py: 1136] +05/27 17:26:06 INFO: [Worker 0] Worker 0 house 8111 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:26:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:26:07 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 17:27:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:38:54 INFO: [Worker 0] Worker 0 house 8111 episode 0 object tomato_5eae6c3ba60250aba913d63c8804bcf4_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 17:38:57 INFO: [Worker 0] Batching and saving trajectory data for house_8111: 1 episodes [pipeline.py: 233] +05/27 17:38:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:39:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:39:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8111 [save_utils.py: 703] +05/27 17:39:00 INFO: [Worker 0] Successfully saved trajectory data for house_8111 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 17:39:01 WARNING: [Worker 0] No trajectory data to save for house_8111 [pipeline.py: 229] +05/27 17:39:01 INFO: [Worker 0] Worker 0 completed house 8111: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:39:01 INFO: [Worker 0] Worker 0 starting house 8216 (index 92/114) [pipeline.py: 473] +05/27 17:39:01 INFO: [Worker 0] Loaded 1 episodes for house 8216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 17:39:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:39:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8216_ceiling.xml [task_sampler.py: 797] +05/27 17:39:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8216, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:39:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:39:17 INFO: [Worker 0] randomize_scene: Setting poses for 110 objects [json_eval_task_sampler.py: 686] +05/27 17:39:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:39:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:39:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:39:17 INFO: [Worker 0] Sampled task 'Pick up the roll of light brown adhesive tape and place it next to the miniature pink torii gate with gray top' [task_sampler.py: 1136] +05/27 17:39:17 INFO: [Worker 0] Worker 0 house 8216 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:39:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:39:17 WARNING: [Worker 0] Could not find object objabakingingredientpackage_4cbd81f4246640bb8ee09370e4fcd7ed_1_0_2 in scene [object_manager.py: 1238] +05/27 17:39:17 WARNING: [Worker 0] Could not find object cup_b31afea732a344b3a47a266ce9bb531f_1_0_2 in scene [object_manager.py: 1238] +05/27 17:40:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:59:53 INFO: [Worker 0] Worker 0 house 8216 episode 0 object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:59:57 INFO: [Worker 0] Batching and saving trajectory data for house_8216: 1 episodes [pipeline.py: 233] +05/27 17:59:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:00:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:00:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8216 [save_utils.py: 703] +05/27 18:00:00 INFO: [Worker 0] Successfully saved trajectory data for house_8216 in 2.66s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/27 18:00:00 WARNING: [Worker 0] No trajectory data to save for house_8216 [pipeline.py: 229] +05/27 18:00:00 INFO: [Worker 0] Worker 0 completed house 8216: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:00:00 INFO: [Worker 0] Worker 0 starting house 8254 (index 93/114) [pipeline.py: 473] +05/27 18:00:00 INFO: [Worker 0] Loaded 1 episodes for house 8254 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 18:00:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:00:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8254_ceiling.xml [task_sampler.py: 797] +05/27 18:00:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8254, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:00:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:00:07 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/27 18:00:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:00:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:00:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:00:07 INFO: [Worker 0] Sampled task 'Pick up the dark metal frying pan with handle and place it next to the gray spray bottle' [task_sampler.py: 1136] +05/27 18:00:07 INFO: [Worker 0] Worker 0 house 8254 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:00:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:01:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:08:21 INFO: [Worker 0] Worker 0 house 8254 episode 0 object cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 18:08:24 INFO: [Worker 0] Batching and saving trajectory data for house_8254: 1 episodes [pipeline.py: 233] +05/27 18:08:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:08:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:08:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8254 [save_utils.py: 703] +05/27 18:08:27 INFO: [Worker 0] Successfully saved trajectory data for house_8254 in 2.43s (batch: 2.33s, save: 0.10s) [pipeline.py: 280] +05/27 18:08:27 WARNING: [Worker 0] No trajectory data to save for house_8254 [pipeline.py: 229] +05/27 18:08:27 INFO: [Worker 0] Worker 0 completed house 8254: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:08:27 INFO: [Worker 0] Worker 0 starting house 8347 (index 94/114) [pipeline.py: 473] +05/27 18:08:27 INFO: [Worker 0] Loaded 1 episodes for house 8347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 18:08:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:08:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8347_ceiling.xml [task_sampler.py: 797] +05/27 18:08:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8347, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:08:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:08:30 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 18:08:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:08:30 INFO: [Worker 0] Sampled task 'Pick up the red star goblet and place it next to the long slender brown wooden piece' [task_sampler.py: 1136] +05/27 18:08:30 INFO: [Worker 0] Worker 0 house 8347 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:08:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:08:31 WARNING: [Worker 0] Could not find object objatoyfish_7a75c224806a4d04a7a9ebba517ad100_1_0_6 in scene [object_manager.py: 1238] +05/27 18:08:31 WARNING: [Worker 0] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene [object_manager.py: 1238] +05/27 18:10:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:20:17 INFO: [Worker 0] Worker 0 house 8347 episode 0 object objadecorativegoblet_20d62fed128845d5942720920dd1e441_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 18:20:21 INFO: [Worker 0] Batching and saving trajectory data for house_8347: 1 episodes [pipeline.py: 233] +05/27 18:20:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:20:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:20:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8347 [save_utils.py: 703] +05/27 18:20:24 INFO: [Worker 0] Successfully saved trajectory data for house_8347 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 18:20:25 WARNING: [Worker 0] No trajectory data to save for house_8347 [pipeline.py: 229] +05/27 18:20:25 INFO: [Worker 0] Worker 0 completed house 8347: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:20:25 INFO: [Worker 0] Worker 0 starting house 8407 (index 95/114) [pipeline.py: 473] +05/27 18:20:25 INFO: [Worker 0] Loaded 1 episodes for house 8407 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 18:20:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:20:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8407_ceiling.xml [task_sampler.py: 797] +05/27 18:20:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8407, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:20:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:20:32 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/27 18:20:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:20:32 INFO: [Worker 0] Sampled task 'Pick up the munition and place it next to the black cat with purple ears and tail' [task_sampler.py: 1136] +05/27 18:20:32 INFO: [Worker 0] Worker 0 house 8407 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:20:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:22:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:28:47 INFO: [Worker 0] Worker 0 house 8407 episode 0 object objabulletcartridge_1b46a5e8c3aa4ce9ac49c68efdb21b9c_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 18:28:51 INFO: [Worker 0] Batching and saving trajectory data for house_8407: 1 episodes [pipeline.py: 233] +05/27 18:28:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:28:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:28:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8407 [save_utils.py: 703] +05/27 18:28:54 INFO: [Worker 0] Successfully saved trajectory data for house_8407 in 2.72s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/27 18:28:55 WARNING: [Worker 0] No trajectory data to save for house_8407 [pipeline.py: 229] +05/27 18:28:55 INFO: [Worker 0] Worker 0 completed house 8407: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:28:55 INFO: [Worker 0] Worker 0 starting house 8483 (index 96/114) [pipeline.py: 473] +05/27 18:28:55 INFO: [Worker 0] Loaded 1 episodes for house 8483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 18:28:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:29:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8483_ceiling.xml [task_sampler.py: 797] +05/27 18:29:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8483, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:29:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:29:08 INFO: [Worker 0] randomize_scene: Setting poses for 92 objects [json_eval_task_sampler.py: 686] +05/27 18:29:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:29:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:29:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:29:08 INFO: [Worker 0] Sampled task 'Pick up the beige windmill with blue roof and place it next to the olive green clamp with grip' [task_sampler.py: 1136] +05/27 18:29:08 INFO: [Worker 0] Worker 0 house 8483 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:29:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:29:08 WARNING: [Worker 0] Could not find object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_5 in scene [object_manager.py: 1238] +05/27 18:29:08 WARNING: [Worker 0] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene [object_manager.py: 1238] +05/27 18:48:17 INFO: [Worker 0] Worker 0 house 8483 episode 0 object objadecorativewindmill_558349ea1db149029e67490134e33c21_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 18:48:20 INFO: [Worker 0] Batching and saving trajectory data for house_8483: 1 episodes [pipeline.py: 233] +05/27 18:48:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:48:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:48:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8483 [save_utils.py: 703] +05/27 18:48:22 INFO: [Worker 0] Successfully saved trajectory data for house_8483 in 2.38s (batch: 2.29s, save: 0.09s) [pipeline.py: 280] +05/27 18:48:23 WARNING: [Worker 0] No trajectory data to save for house_8483 [pipeline.py: 229] +05/27 18:48:23 INFO: [Worker 0] Worker 0 completed house 8483: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:48:23 INFO: [Worker 0] Worker 0 starting house 8598 (index 97/114) [pipeline.py: 473] +05/27 18:48:23 INFO: [Worker 0] Loaded 1 episodes for house 8598 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 18:48:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:48:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8598_ceiling.xml [task_sampler.py: 797] +05/27 18:48:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8598, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:48:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:48:31 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/27 18:48:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:48:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:48:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:48:31 INFO: [Worker 0] Sampled task 'Pick up the vintage red hand drill with gear and place it next to the slim dark cellphone with buttons' [task_sampler.py: 1136] +05/27 18:48:31 INFO: [Worker 0] Worker 0 house 8598 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:48:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:50:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:04:46 INFO: [Worker 0] Worker 0 house 8598 episode 0 object objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 19:04:49 INFO: [Worker 0] Batching and saving trajectory data for house_8598: 1 episodes [pipeline.py: 233] +05/27 19:04:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:04:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:04:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8598 [save_utils.py: 703] +05/27 19:04:51 INFO: [Worker 0] Successfully saved trajectory data for house_8598 in 2.38s (batch: 2.29s, save: 0.09s) [pipeline.py: 280] +05/27 19:04:52 WARNING: [Worker 0] No trajectory data to save for house_8598 [pipeline.py: 229] +05/27 19:04:52 INFO: [Worker 0] Worker 0 completed house 8598: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:04:52 INFO: [Worker 0] Worker 0 starting house 8693 (index 98/114) [pipeline.py: 473] +05/27 19:04:52 INFO: [Worker 0] Loaded 1 episodes for house 8693 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 19:04:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:05:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8693_ceiling.xml [task_sampler.py: 797] +05/27 19:05:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8693, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:05:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:05:17 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 19:05:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:05:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:05:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:05:17 INFO: [Worker 0] Sampled task 'Pick up the worn notebook with stickers and place it next to the moka pot' [task_sampler.py: 1136] +05/27 19:05:17 INFO: [Worker 0] Worker 0 house 8693 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:05:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:18:01 INFO: [Worker 0] Worker 0 house 8693 episode 0 object objanotebook_21d8c15bddc8434e89d7d8d7e67092c9_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 19:18:04 INFO: [Worker 0] Batching and saving trajectory data for house_8693: 1 episodes [pipeline.py: 233] +05/27 19:18:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:18:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:18:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8693 [save_utils.py: 703] +05/27 19:18:07 INFO: [Worker 0] Successfully saved trajectory data for house_8693 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 19:18:07 WARNING: [Worker 0] No trajectory data to save for house_8693 [pipeline.py: 229] +05/27 19:18:07 INFO: [Worker 0] Worker 0 completed house 8693: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:18:07 INFO: [Worker 0] Worker 0 starting house 8774 (index 99/114) [pipeline.py: 473] +05/27 19:18:07 INFO: [Worker 0] Loaded 1 episodes for house 8774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 19:18:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:18:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8774_ceiling.xml [task_sampler.py: 797] +05/27 19:18:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8774, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:18:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:18:18 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/27 19:18:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:18:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:18:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:18:18 INFO: [Worker 0] Sampled task 'Pick up the food packet and place it next to the brown bread' [task_sampler.py: 1136] +05/27 19:18:18 INFO: [Worker 0] Worker 0 house 8774 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:18:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:27:41 INFO: [Worker 0] Worker 0 house 8774 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 19:27:44 INFO: [Worker 0] Batching and saving trajectory data for house_8774: 1 episodes [pipeline.py: 233] +05/27 19:27:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:27:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:27:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8774 [save_utils.py: 703] +05/27 19:27:47 INFO: [Worker 0] Successfully saved trajectory data for house_8774 in 2.73s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/27 19:27:48 WARNING: [Worker 0] No trajectory data to save for house_8774 [pipeline.py: 229] +05/27 19:27:48 INFO: [Worker 0] Worker 0 completed house 8774: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:27:48 INFO: [Worker 0] Worker 0 starting house 8866 (index 100/114) [pipeline.py: 473] +05/27 19:27:48 INFO: [Worker 0] Loaded 1 episodes for house 8866 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 19:27:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:28:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8866_ceiling.xml [task_sampler.py: 797] +05/27 19:28:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8866, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:28:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:28:02 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/27 19:28:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:28:02 INFO: [Worker 0] Sampled task 'Pick up the hiking shoe and place it next to the miniature tower' [task_sampler.py: 1136] +05/27 19:28:02 INFO: [Worker 0] Worker 0 house 8866 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:28:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:28:02 WARNING: [Worker 0] Could not find object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_7 in scene [object_manager.py: 1238] +05/27 19:28:02 WARNING: [Worker 0] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_7 in scene [object_manager.py: 1238] +05/27 19:29:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:42:48 INFO: [Worker 0] Worker 0 house 8866 episode 0 object objahikingshoe_36cf424a356146249c8043410083858f_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 19:42:52 INFO: [Worker 0] Batching and saving trajectory data for house_8866: 1 episodes [pipeline.py: 233] +05/27 19:42:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:42:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:42:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8866 [save_utils.py: 703] +05/27 19:42:54 INFO: [Worker 0] Successfully saved trajectory data for house_8866 in 2.69s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 19:42:55 WARNING: [Worker 0] No trajectory data to save for house_8866 [pipeline.py: 229] +05/27 19:42:55 INFO: [Worker 0] Worker 0 completed house 8866: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:42:55 INFO: [Worker 0] Worker 0 starting house 8925 (index 101/114) [pipeline.py: 473] +05/27 19:42:55 INFO: [Worker 0] Loaded 1 episodes for house 8925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 19:42:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:43:01 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 19:43:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8925_ceiling.xml [task_sampler.py: 797] +05/27 19:43:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8925, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:43:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:43:04 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 19:43:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:43:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:43:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:43:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:43:04 INFO: [Worker 0] Sampled task 'Pick up the metallic bold three-dimensional nameplate and place it next to the alarmclock' [task_sampler.py: 1136] +05/27 19:43:04 INFO: [Worker 0] Worker 0 house 8925 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:43:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:43:04 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 19:43:04 WARNING: [Worker 0] Could not find object Irishpotato_e58a7a0c37cb0ef9c8155d56cc319ccf_1_0_6 in scene [object_manager.py: 1238] +05/27 19:44:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:55:49 INFO: [Worker 0] Worker 0 house 8925 episode 0 object objanameplate_47e5a18ca5c74911af360bf4de7aa9f2_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 19:55:53 INFO: [Worker 0] Batching and saving trajectory data for house_8925: 1 episodes [pipeline.py: 233] +05/27 19:55:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:55:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:55:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8925 [save_utils.py: 703] +05/27 19:55:56 INFO: [Worker 0] Successfully saved trajectory data for house_8925 in 2.81s (batch: 2.64s, save: 0.17s) [pipeline.py: 280] +05/27 19:55:56 WARNING: [Worker 0] No trajectory data to save for house_8925 [pipeline.py: 229] +05/27 19:55:56 INFO: [Worker 0] Worker 0 completed house 8925: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:55:56 INFO: [Worker 0] Worker 0 starting house 8996 (index 102/114) [pipeline.py: 473] +05/27 19:55:56 INFO: [Worker 0] Loaded 1 episodes for house 8996 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 19:55:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:56:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8996_ceiling.xml [task_sampler.py: 797] +05/27 19:56:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8996, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:56:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:56:25 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 19:56:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:56:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:56:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:56:25 INFO: [Worker 0] Sampled task 'Pick up the shiny gold candy wrapper with twists and place it next to the transparent conical cup with base' [task_sampler.py: 1136] +05/27 19:56:25 INFO: [Worker 0] Worker 0 house 8996 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:56:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:58:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:59:35 INFO: [Worker 0] Worker 0 house 8996 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 19:59:39 INFO: [Worker 0] Batching and saving trajectory data for house_8996: 1 episodes [pipeline.py: 233] +05/27 19:59:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:59:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:59:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8996 [save_utils.py: 703] +05/27 19:59:41 INFO: [Worker 0] Successfully saved trajectory data for house_8996 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 19:59:42 WARNING: [Worker 0] No trajectory data to save for house_8996 [pipeline.py: 229] +05/27 19:59:42 INFO: [Worker 0] Worker 0 completed house 8996: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:59:42 INFO: [Worker 0] Worker 0 starting house 9058 (index 103/114) [pipeline.py: 473] +05/27 19:59:42 INFO: [Worker 0] Loaded 1 episodes for house 9058 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 19:59:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:00:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9058_ceiling.xml [task_sampler.py: 797] +05/27 20:00:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9058, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:00:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:00:17 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/27 20:00:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:00:17 INFO: [Worker 0] Sampled task 'Pick up the elongated red pepper with stem and place it next to the smooth glossy red tomato' [task_sampler.py: 1136] +05/27 20:00:17 INFO: [Worker 0] Worker 0 house 9058 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:00:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:01:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:15:40 INFO: [Worker 0] Worker 0 house 9058 episode 0 object objavegetable_efb5f76948714689a43d7e41f712555a_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:15:43 INFO: [Worker 0] Batching and saving trajectory data for house_9058: 1 episodes [pipeline.py: 233] +05/27 20:15:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:15:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:15:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9058 [save_utils.py: 703] +05/27 20:15:46 INFO: [Worker 0] Successfully saved trajectory data for house_9058 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 20:15:46 WARNING: [Worker 0] No trajectory data to save for house_9058 [pipeline.py: 229] +05/27 20:15:46 INFO: [Worker 0] Worker 0 completed house 9058: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:15:46 INFO: [Worker 0] Worker 0 starting house 9140 (index 104/114) [pipeline.py: 473] +05/27 20:15:46 INFO: [Worker 0] Loaded 1 episodes for house 9140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 20:15:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:16:25 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 20:16:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9140_ceiling.xml [task_sampler.py: 797] +05/27 20:16:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9140, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:16:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:16:27 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 20:16:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:16:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:16:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:16:27 INFO: [Worker 0] Sampled task 'Pick up the gold black toy robot and place it next to the book' [task_sampler.py: 1136] +05/27 20:16:27 INFO: [Worker 0] Worker 0 house 9140 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:16:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:16:27 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_2 in scene [object_manager.py: 1238] +05/27 20:18:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:26:59 INFO: [Worker 0] Worker 0 house 9140 episode 0 object objatoyrobot_7edbf0ed6932465c86bdf37d2a53ffeb_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 20:27:02 INFO: [Worker 0] Batching and saving trajectory data for house_9140: 1 episodes [pipeline.py: 233] +05/27 20:27:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:27:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:27:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9140 [save_utils.py: 703] +05/27 20:27:05 INFO: [Worker 0] Successfully saved trajectory data for house_9140 in 2.41s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 20:27:05 WARNING: [Worker 0] No trajectory data to save for house_9140 [pipeline.py: 229] +05/27 20:27:05 INFO: [Worker 0] Worker 0 completed house 9140: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:27:05 INFO: [Worker 0] Worker 0 starting house 9190 (index 105/114) [pipeline.py: 473] +05/27 20:27:05 INFO: [Worker 0] Loaded 1 episodes for house 9190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 20:27:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:27:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9190_ceiling.xml [task_sampler.py: 797] +05/27 20:27:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9190, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:27:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:27:24 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 20:27:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:27:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:27:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:27:24 INFO: [Worker 0] Sampled task 'Pick up the locking pliers and place it next to the green glossy cup with spherical base' [task_sampler.py: 1136] +05/27 20:27:24 INFO: [Worker 0] Worker 0 house 9190 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:27:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:27:24 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene [object_manager.py: 1238] +05/27 20:27:24 WARNING: [Worker 0] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene [object_manager.py: 1238] +05/27 20:28:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:43:30 INFO: [Worker 0] Worker 0 house 9190 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:43:33 INFO: [Worker 0] Batching and saving trajectory data for house_9190: 1 episodes [pipeline.py: 233] +05/27 20:43:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:43:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:43:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9190 [save_utils.py: 703] +05/27 20:43:36 INFO: [Worker 0] Successfully saved trajectory data for house_9190 in 2.73s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/27 20:43:37 WARNING: [Worker 0] No trajectory data to save for house_9190 [pipeline.py: 229] +05/27 20:43:37 INFO: [Worker 0] Worker 0 completed house 9190: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:43:37 INFO: [Worker 0] Worker 0 starting house 9296 (index 106/114) [pipeline.py: 473] +05/27 20:43:37 INFO: [Worker 0] Loaded 1 episodes for house 9296 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 20:43:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:43:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9296_ceiling.xml [task_sampler.py: 797] +05/27 20:43:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9296, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:43:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:43:58 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 20:43:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:43:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:43:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:43:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:43:58 INFO: [Worker 0] Sampled task 'Pick up the yellow energy cell with text and place it next to the black cylinder' [task_sampler.py: 1136] +05/27 20:43:58 INFO: [Worker 0] Worker 0 house 9296 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:43:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:45:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:00:25 INFO: [Worker 0] Worker 0 house 9296 episode 0 object objabattery_232d825f11f5428382e14dacefa02f0c_2_0_4 completed with success=False [pipeline.py: 1114] +05/27 21:00:28 INFO: [Worker 0] Batching and saving trajectory data for house_9296: 1 episodes [pipeline.py: 233] +05/27 21:00:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:00:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:00:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9296 [save_utils.py: 703] +05/27 21:00:30 INFO: [Worker 0] Successfully saved trajectory data for house_9296 in 2.37s (batch: 2.28s, save: 0.09s) [pipeline.py: 280] +05/27 21:00:31 WARNING: [Worker 0] No trajectory data to save for house_9296 [pipeline.py: 229] +05/27 21:00:31 INFO: [Worker 0] Worker 0 completed house 9296: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:00:31 INFO: [Worker 0] Worker 0 starting house 9398 (index 107/114) [pipeline.py: 473] +05/27 21:00:31 INFO: [Worker 0] Loaded 1 episodes for house 9398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 21:00:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:00:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9398_ceiling.xml [task_sampler.py: 797] +05/27 21:00:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9398, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:00:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:00:35 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 21:00:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:00:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:00:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:00:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:00:35 INFO: [Worker 0] Sampled task 'Pick up the sleek black spinning top and place it next to the gold metallic phone' [task_sampler.py: 1136] +05/27 21:00:35 INFO: [Worker 0] Worker 0 house 9398 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:00:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:00:35 WARNING: [Worker 0] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_7 in scene [object_manager.py: 1238] +05/27 21:02:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:13:19 INFO: [Worker 0] Worker 0 house 9398 episode 0 object objaspinningtop_15be96b0b22d4f69b3569445bd372c48_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 21:13:23 INFO: [Worker 0] Batching and saving trajectory data for house_9398: 1 episodes [pipeline.py: 233] +05/27 21:13:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:13:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:13:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9398 [save_utils.py: 703] +05/27 21:13:26 INFO: [Worker 0] Successfully saved trajectory data for house_9398 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 21:13:26 WARNING: [Worker 0] No trajectory data to save for house_9398 [pipeline.py: 229] +05/27 21:13:26 INFO: [Worker 0] Worker 0 completed house 9398: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:13:26 INFO: [Worker 0] Worker 0 starting house 9491 (index 108/114) [pipeline.py: 473] +05/27 21:13:26 INFO: [Worker 0] Loaded 1 episodes for house 9491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 21:13:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:13:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9491_ceiling.xml [task_sampler.py: 797] +05/27 21:13:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9491, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:13:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:13:45 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 21:13:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:13:45 INFO: [Worker 0] Sampled task 'Pick up the rustic windmill and place it next to the blue square plate with hexagons' [task_sampler.py: 1136] +05/27 21:13:45 INFO: [Worker 0] Worker 0 house 9491 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:13:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:13:45 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_5 in scene [object_manager.py: 1238] +05/27 21:13:45 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_3_0_5 in scene [object_manager.py: 1238] +05/27 21:13:45 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/27 21:29:14 INFO: [Worker 0] Worker 0 house 9491 episode 0 object objaminiaturewindmill_7e16ed658d92416e9faae0ad91059e92_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 21:29:17 INFO: [Worker 0] Batching and saving trajectory data for house_9491: 1 episodes [pipeline.py: 233] +05/27 21:29:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:29:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:29:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9491 [save_utils.py: 703] +05/27 21:29:20 INFO: [Worker 0] Successfully saved trajectory data for house_9491 in 2.67s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/27 21:29:20 WARNING: [Worker 0] No trajectory data to save for house_9491 [pipeline.py: 229] +05/27 21:29:20 INFO: [Worker 0] Worker 0 completed house 9491: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:29:20 INFO: [Worker 0] Worker 0 starting house 9534 (index 109/114) [pipeline.py: 473] +05/27 21:29:20 INFO: [Worker 0] Loaded 1 episodes for house 9534 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 21:29:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:29:54 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 21:29:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9534_ceiling.xml [task_sampler.py: 797] +05/27 21:29:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9534, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:29:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:29:57 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 21:29:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:29:57 INFO: [Worker 0] Sampled task 'Pick up the metal multitool and place it next to the spray bottle' [task_sampler.py: 1136] +05/27 21:29:57 INFO: [Worker 0] Worker 0 house 9534 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:29:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:29:57 WARNING: [Worker 0] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 in scene [object_manager.py: 1238] +05/27 21:29:57 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene [object_manager.py: 1238] +05/27 21:31:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:42:37 INFO: [Worker 0] Worker 0 house 9534 episode 0 object objamultitool_d9de978241864228829edcf061a8ce64_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 21:42:41 INFO: [Worker 0] Batching and saving trajectory data for house_9534: 1 episodes [pipeline.py: 233] +05/27 21:42:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:42:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:42:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9534 [save_utils.py: 703] +05/27 21:42:43 INFO: [Worker 0] Successfully saved trajectory data for house_9534 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/27 21:42:44 WARNING: [Worker 0] No trajectory data to save for house_9534 [pipeline.py: 229] +05/27 21:42:44 INFO: [Worker 0] Worker 0 completed house 9534: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:42:44 INFO: [Worker 0] Worker 0 starting house 9605 (index 110/114) [pipeline.py: 473] +05/27 21:42:44 INFO: [Worker 0] Loaded 1 episodes for house 9605 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 21:42:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:42:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9605_ceiling.xml [task_sampler.py: 797] +05/27 21:42:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9605, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:42:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:42:45 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/27 21:42:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:42:45 INFO: [Worker 0] Sampled task 'Pick up the black magician's wand with white tips and place it next to the soap dispenser' [task_sampler.py: 1136] +05/27 21:42:45 INFO: [Worker 0] Worker 0 house 9605 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:42:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:44:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:49:01 INFO: [Worker 0] Worker 0 house 9605 episode 0 object objamagicwand_95837e7f267649c4b344bd47c6d3238a_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 21:49:05 INFO: [Worker 0] Batching and saving trajectory data for house_9605: 1 episodes [pipeline.py: 233] +05/27 21:49:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:49:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:49:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9605 [save_utils.py: 703] +05/27 21:49:08 INFO: [Worker 0] Successfully saved trajectory data for house_9605 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 21:49:08 WARNING: [Worker 0] No trajectory data to save for house_9605 [pipeline.py: 229] +05/27 21:49:08 INFO: [Worker 0] Worker 0 completed house 9605: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:49:08 INFO: [Worker 0] Worker 0 starting house 9673 (index 111/114) [pipeline.py: 473] +05/27 21:49:08 INFO: [Worker 0] Loaded 1 episodes for house 9673 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 21:49:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:49:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9673_ceiling.xml [task_sampler.py: 797] +05/27 21:49:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9673, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:49:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:49:16 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/27 21:49:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:49:16 INFO: [Worker 0] Sampled task 'Pick up the gold patterned ocarina and place it next to the small ceramic church model with steeple' [task_sampler.py: 1136] +05/27 21:49:16 INFO: [Worker 0] Worker 0 house 9673 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:49:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:00:12 INFO: [Worker 0] Worker 0 house 9673 episode 0 object objaocarina_a29e1d2cb6af40c49572e4085c9cdd23_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 22:00:16 INFO: [Worker 0] Batching and saving trajectory data for house_9673: 1 episodes [pipeline.py: 233] +05/27 22:00:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:00:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:00:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9673 [save_utils.py: 703] +05/27 22:00:18 INFO: [Worker 0] Successfully saved trajectory data for house_9673 in 2.64s (batch: 2.56s, save: 0.09s) [pipeline.py: 280] +05/27 22:00:19 WARNING: [Worker 0] No trajectory data to save for house_9673 [pipeline.py: 229] +05/27 22:00:19 INFO: [Worker 0] Worker 0 completed house 9673: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:00:19 INFO: [Worker 0] Worker 0 starting house 9767 (index 112/114) [pipeline.py: 473] +05/27 22:00:19 INFO: [Worker 0] Loaded 1 episodes for house 9767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 22:00:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 22:00:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9767_ceiling.xml [task_sampler.py: 797] +05/27 22:00:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9767, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 22:00:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 22:00:21 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects [json_eval_task_sampler.py: 686] +05/27 22:00:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 22:00:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 22:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 22:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 22:00:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 22:00:21 INFO: [Worker 0] Sampled task 'Pick up the pointed silver blade garden trowel and place it next to the black magnifying glass with handle' [task_sampler.py: 1136] +05/27 22:00:21 INFO: [Worker 0] Worker 0 house 9767 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 22:00:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:02:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 22:07:59 INFO: [Worker 0] Worker 0 house 9767 episode 0 object objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 22:08:03 INFO: [Worker 0] Batching and saving trajectory data for house_9767: 1 episodes [pipeline.py: 233] +05/27 22:08:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:08:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:08:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9767 [save_utils.py: 703] +05/27 22:08:06 INFO: [Worker 0] Successfully saved trajectory data for house_9767 in 2.67s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/27 22:08:06 WARNING: [Worker 0] No trajectory data to save for house_9767 [pipeline.py: 229] +05/27 22:08:06 INFO: [Worker 0] Worker 0 completed house 9767: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:08:06 INFO: [Worker 0] Worker 0 starting house 9928 (index 113/114) [pipeline.py: 473] +05/27 22:08:06 INFO: [Worker 0] Loaded 1 episodes for house 9928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/27 22:08:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 22:08:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9928_ceiling.xml [task_sampler.py: 797] +05/27 22:08:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9928, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 22:08:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 22:08:33 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 22:08:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 22:08:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 22:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 22:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 22:08:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 22:08:33 INFO: [Worker 0] Sampled task 'Pick up the gray compact device with pink strap and place it next to the dark muscular statue standing dynamically' [task_sampler.py: 1136] +05/27 22:08:33 INFO: [Worker 0] Worker 0 house 9928 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 22:08:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:08:34 WARNING: [Worker 0] Could not find object objatoothpastetube_394713df518944d2aea8b43097b444f5_1_0_3 in scene [object_manager.py: 1238] +05/27 22:08:34 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_3 in scene [object_manager.py: 1238] +05/27 22:10:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 22:17:35 INFO: [Worker 0] Worker 0 house 9928 episode 0 object objahandhelddevice_2d9af38e33bf46af992044599ff8adf9_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 22:17:39 INFO: [Worker 0] Batching and saving trajectory data for house_9928: 1 episodes [pipeline.py: 233] +05/27 22:17:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:17:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:17:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9928 [save_utils.py: 703] +05/27 22:17:41 INFO: [Worker 0] Successfully saved trajectory data for house_9928 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/27 22:17:42 WARNING: [Worker 0] No trajectory data to save for house_9928 [pipeline.py: 229] +05/27 22:17:42 INFO: [Worker 0] Worker 0 completed house 9928: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:17:42 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/27 22:17:43 INFO: Completed 114 houses, skipped 0 houses [pipeline.py: 1496] +05/27 22:17:43 INFO: Success count: 3, Total count: 118 [pipeline.py: 1499] +05/27 22:17:43 INFO: Success rate: 2.54% [pipeline.py: 1500] diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25f9f8c0f6eb77d9838e245cf46e979353ac55de --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/episode_results.jsonl @@ -0,0 +1,118 @@ +{"house_id": "house_1016", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone arrowhead with sharp edges and place it next to the small shiny gold dog statue", "object_name": "objaarrowhead_e4a837393e164540b04973adf53c10ed_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1016/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1129", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek glossy curved plastic frame and place it next to the black beanie with green gold pattern", "object_name": "objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1129/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1215", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the flat handle and place it next to the purple bottle", "object_name": "objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1215/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1281", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive green hand smoke grenade and place it next to the laptop computer", "object_name": "objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1281/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1357", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black virtual headset and place it next to the yellow device", "object_name": "objavirtualrealityheadset_0d6c1d6aa3f747a5b35f8105ed585418_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1357/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1421", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple flower pot with plant and place it next to the dark gray metal shackle with orange pin", "object_name": "objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1421", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray metal shackle and place it next to the soap bottle", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1440", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic stone tray and place it next to the medium dark metal cooking pot", "object_name": "objastonetray_af335dd50e394ba0ab92dd4e4e86954d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1440/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1598", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red rectangular box of pasta and place it next to the soap bottle", "object_name": "objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1598/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1698", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black night vision scope and place it next to the smart display device", "object_name": "objanightvisionscope_060a8c828d7a48789fbade22b83a2f15_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1698/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1765", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden pestle with jagged top and place it next to the blue rounded pot with handles and straps", "object_name": "objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_6", "data_file_path": 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"Pick up the tissue paper and place it next to the purple spray bottle with white nozzle", "object_name": "objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1937/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2034", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vibrant magenta coil spring on base and place it next to the cassetteplayer", "object_name": "objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_3", "data_file_path": 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"Pick up the garden hose connector and place it next to the thick yellow hardcover book", "object_name": "objagardenhoseconnector_bf765bb3a0824d8fb21121f299b44df4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2245/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2360", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the paint roller with textured off-white head and place it next to the white ceramic vase with subtle ridges", "object_name": "objapaintroller_002a355c77774228b15db50d77d0e002_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2360/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2465", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium smooth red apple and place it next to the crumpled white plastic bag with stains", "object_name": "apple_8a1c7fb834f6201db020cae968b49bbc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2465/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the old-fashioned metal pencil sharpener and place it next to the round brown bread loaf domed", "object_name": "objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2502/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2638", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple plastic spray bottle with trigger and place it next to the blue toaster with two slots", "object_name": "atomizer_834d386e080077accc22e6eae5471528_1_0_6", "data_file_path": 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"task_description": "Pick up the wooden paddle with black decorative rectangles and place it next to the laptop computer", "object_name": "objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2853/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2948", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the deer bust with red collar and place it next to the yellow handled kitchen knife", "object_name": "objadecorativebust_5a6e5b23243d41a2a5cec0e259c56ba3_1_0_6", "data_file_path": 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"task_description": "Pick up the futuristic device and place it next to the blue soap bottle", "object_name": "objaappliance_a295613096c54e6e9c898469e8afc236_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3190/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3247", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metal plate mount and place it next to the gray butterfly with geometric patterns", "object_name": "objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2", "data_file_path": 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"task_description": "Pick up the vintage desk calendar with handle and place it next to the dark gray laptop with keyboard", "object_name": "objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3373/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3420", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curled vintage ribbon with text and place it next to the small dark brown potato", "object_name": "objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_2", "data_file_path": 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"task_description": "Pick up the teal cordless grinder and place it next to the house plant", "object_name": "objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3626/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3721", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the striped teacup and place it next to the smooth red apple", "object_name": "objateacup_8f63a888a2c3473eabef51c650c82b45_1_0_2", "data_file_path": 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"Pick up the green and white athletic shoe and place it next to the guitar effects pedal", "object_name": "objaathleticshoe_f13de6ea58204192ab4250342bd69aac_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3908/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4019", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray cylindrical metal coil spring and place it next to the instrumentation", "object_name": "objaspring_3071830f2d3e4b57a59976719298c808_1_0_7", "data_file_path": 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"task_description": "Pick up the rectangular metallic effects pedal and place it next to the gray dispenser with metallic tip", "object_name": "objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4030/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4132", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black capsule and place it next to the voxel gray medieval cannon", "object_name": "objacapsule_870611a797c1472197872d137247a094_1_0_8", "data_file_path": 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"task_description": "Pick up the metal hinge and place it next to the tall copper cup with ridges", "object_name": "objahinge_4587c40e36704e7a96ffebad95028160_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4273/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4320", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bold multicolored eyeglasses with rectangular openings and place it next to the open brown cardboard storage box", "object_name": "objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_2", "data_file_path": 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"task_description": "Pick up the sharpeningsteel and place it next to the gray pigeon with spread wings", "object_name": "objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4480/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4584", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal container with aged label and place it next to the decorative yellow striped fish", "object_name": "objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6", "data_file_path": 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"task_description": "Pick up the triangular white sandwich and place it next to the rectangular transparent soap bottle", "object_name": "objasandwich_8e8b342613f0477182ec8586876291cf_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4706/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4774", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange envelope with currency seal and place it next to the pear-shaped beige ceramic hanging weight", "object_name": "objaenvelope_321bc258ef67468cbc2377bb48782f4a_1_0_6", "data_file_path": 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"task_description": "Pick up the cellphone and place it next to the breadstuff", "object_name": "cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4939/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5038", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the translucent blue capsule and place it next to the smooth yellow apple with stem", "object_name": "objacapsule_5ff3a5a3cef64439905910e86d37ec57_1_0_2", "data_file_path": 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449, "task_description": "Pick up the aerosol bomb and place it next to the blue spray bottle", "object_name": "objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5193/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5319", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red and white can and place it next to the smooth rounded ceramic bowl with rim", "object_name": "objacan_e0976ef0e465417a816b142387f41765_1_0_2", "data_file_path": 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"Pick up the circular disc with colorful front design and place it next to the bulbous shiny gold vase", "object_name": "objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5539/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5599", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue emblem with metallic a and text and place it next to the cream candle in blue holder", "object_name": "objadecorativeemblem_dc44a9d16aaa4b61addce2a8480f54f6_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5599/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5654", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gemstone and place it next to the smooth shallow light brown bowl", "object_name": "objagemstone_175e4e432e6f4304af73c7fff56be773_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5654/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5758", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green gemstone and place it next to the matte dark gray bowl", "object_name": "objagemstone_3a9d89ec0d6642ee8a8fc42a1361c701_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5758/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5880", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue rectangular alarm clock with knob and place it next to the iridescent translucent blue star ornament", "object_name": "alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_5", "data_file_path": 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the slender wooden needle with hole and place it next to the handheld drill", "object_name": "objaneedle_9abd71cdbfbd4af8a900b0fb4b3f2d70_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6030/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6072", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal drafting compass with handle and place it next to the black gas mask with cross symbol", "object_name": "objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_4", "data_file_path": 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round dish with handle and pattern and place it next to the brown bread", "object_name": "objaservingdish_5d58816fa8534b568d8e96cd47a8f413_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_610/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6102", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small green artificial aloe plant and place it next to the translucent plastic ergonomic spray bottle", "object_name": "objaartificialplant_23ce2fda23bb4e68a289675be2ce511e_1_0_2", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the yellow handheld gps and place it next to the round loaf with brown crust", "object_name": "objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6252/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6298", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 116, "task_description": "Pick up the terracotta owl vessel with spout and place it next to the blue toy monster truck", "object_name": "objavessel_8bd6e267f265481682e17f696b201103_1_0_6", "data_file_path": 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"task_description": "Pick up the hand tool and place it next to the chunky pink and white knitted beanie", "object_name": "objaawl_a001d9c9ea68400d9e57893975d3d39d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6438/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6538", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated rough dried fish and place it next to the tall dark cup", "object_name": "objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_2_0_2", "data_file_path": 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"task_description": "Pick up the white stand with flag and place it next to the white analog stopwatch", "object_name": "objamarkerstand_4b59e422673a438685b77375029f7926_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6696/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6758", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny metallic coil spring cylinder and place it next to the sleek adjustable black silver arm", "object_name": "objacoilspring_bff10a4e7bb14d6f860f861f54134543_1_0_7", "data_file_path": 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marble piece with veins and place it next to the green hardcover book titled the effective engineer", "object_name": "objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6937/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7012", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round ceramic plate with floral pattern and place it next to the golden brown artisanal loaf of bread", "object_name": "objaceramicplate_3b15c410f87f42daa7e8cb5b5f74e3f1_1_0_2", "data_file_path": 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elongated green cucumber and place it next to the brown goblet", "object_name": "objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7163/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_721", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 170, "task_description": "Pick up the vintage microphone with mesh and place it next to the wide flat greenish-gold vase", "object_name": "objamicrophone_3d7e9705612d4058982004abc58ffe5d_1_0_6", "data_file_path": 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up the small dark egyptian figure statuette and place it next to the crockery", "object_name": "objastatuette_b8fac4517e6b49498fec5e800adc6fcb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7338/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7375", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple flower pot with plant and place it next to the blue soap bottle with orange pump", "object_name": "objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6", "data_file_path": 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"task_description": "Pick up the smooth off-white dog bone toy and place it next to the stylized red flower with green leaves", "object_name": "objadogtoy_619ebcad52474517b55ead09935e4a57_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7505/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7631", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black vintage camera with rainbow stripe and place it next to the gold pump bottle", "object_name": "objainstantcamera_e5b7a512a7834420b3dfc5bc15d3bdf6_1_0_8", "data_file_path": 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"task_description": "Pick up the glossy colorful rubik's cube puzzle and place it next to the brown wooden bowl", "object_name": "objapuzzle_a04ff652820c465da4ba7a427fd34417_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7748/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7843", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue four-sided die and place it next to the blue liquid bottle", "object_name": "objadie_7df438532d2f4567a87fb61f0336ad57_1_0_2", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the large stainless steel cooking pot and place it next to the blue ceramic plate", "object_name": "pot_953c9fc3b15d21564e56b7875cf8af20_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8008/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8063", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna helix and place it next to the bulbous shiny gold vase", "object_name": "objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_5", "data_file_path": 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449, "task_description": "Pick up the medium red tomato with small stem and place it next to the fresh green lettuce head with stem", "object_name": "tomato_5eae6c3ba60250aba913d63c8804bcf4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8111/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8216", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the roll of light brown adhesive tape and place it next to the miniature pink torii gate with gray top", "object_name": "objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_2", "data_file_path": 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"task_description": "Pick up the blue spray bottle with nozzle and place it next to the glossy red tomato with twisting stem", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_853/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8598", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage red hand drill with gear and place it next to the slim dark cellphone with buttons", "object_name": "objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8598/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8693", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn notebook with stickers and place it next to the moka pot", "object_name": "objanotebook_21d8c15bddc8434e89d7d8d7e67092c9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8693/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8774", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the food packet and place it next to the brown bread", "object_name": "objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8774/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8866", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hiking shoe and place it next to the miniature tower", "object_name": "objahikingshoe_36cf424a356146249c8043410083858f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8866/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8925", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic bold three-dimensional nameplate and place it next to the alarmclock", "object_name": "objanameplate_47e5a18ca5c74911af360bf4de7aa9f2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8925/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8996", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold candy wrapper with twists and place it next to the transparent conical cup with base", "object_name": "objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8996/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9058", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated red pepper with stem and place it next to the smooth glossy red tomato", "object_name": "objavegetable_efb5f76948714689a43d7e41f712555a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9058/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold black toy robot and place it next to the book", "object_name": "objatoyrobot_7edbf0ed6932465c86bdf37d2a53ffeb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9140/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9190", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the locking pliers and place it next to the green glossy cup with spherical base", "object_name": "objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9190/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_923", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange wand and place it next to the vintage metal lever on dark wooden base", "object_name": "objawand_ea36b5fb4fc94e37bde2db99384a1cc6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_923/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9296", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow energy cell with text and place it next to the black cylinder", "object_name": "objabattery_232d825f11f5428382e14dacefa02f0c_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9296/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9398", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black spinning top and place it next to the gold metallic phone", "object_name": "objaspinningtop_15be96b0b22d4f69b3569445bd372c48_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9398/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9491", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic windmill and place it next to the blue square plate with hexagons", "object_name": "objaminiaturewindmill_7e16ed658d92416e9faae0ad91059e92_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9491/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9534", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal multitool and place it next to the spray bottle", "object_name": "objamultitool_d9de978241864228829edcf061a8ce64_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9534/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9605", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black magician's wand with white tips and place it next to the soap dispenser", "object_name": "objamagicwand_95837e7f267649c4b344bd47c6d3238a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9605/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9673", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold patterned ocarina and place it next to the small ceramic church model with steeple", "object_name": "objaocarina_a29e1d2cb6af40c49572e4085c9cdd23_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9673/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pointed silver blade garden trowel and place it next to the black magnifying glass with handle", "object_name": "objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9767/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9928", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray compact device with pink strap and place it next to the dark muscular statue standing dynamically", "object_name": "objahandhelddevice_2d9af38e33bf46af992044599ff8adf9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9928/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..1a11ea7693ba91287c38fc9c8b06ae3b61c8e169 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/eval.log @@ -0,0 +1,3739 @@ +[2026-05-26 19:43:51,268] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,270] INFO Using MuJoCo EGL device id: 4 +[2026-05-26 19:43:51,270] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,300] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 (source=arg) +[2026-05-26 19:43:53,340] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:02,358] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,280] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,758] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,232] INFO JsonEvalRunner initialized: 114 houses, 118 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 114 houses with 2 episodes each (228 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [610, + 658, + 721, + 774, + 853, + 923, + 1016, + 1129, + 1215, + 1281, + 1357, + 1421, + 1440, + 1598, + 1698, + 1765, + 1862, + 1937, + 2034, + 2142, + 2245, + 2360, + 2465, + 2502, + 2638, + 2775, + 2853, + 2948, + 3052, + 3190, + 3247, + 3284, + 3373, + 3420, + 3515, + 3626, + 3721, + 3763, + 3908, + 4019, + 4030, + 4132, + 4200, + 4273, + 4320, + 4396, + 4480, + 4584, + 4662, + 4706, + 4774, + 4867, + 4939, + 5038, + 5131, + 5193, + 5319, + 5449, + 5539, + 5599, + 5654, + 5758, + 5880, + 5915, + 6030, + 6072, + 6102, + 6199, + 6252, + 6298, + 6382, + 6438, + 6538, + 6696, + 6758, + 6883, + 6937, + 7012, + 7066, + 7163, + 7272, + 7338, + 7375, + 7448, + 7505, + 7631, + 7748, + 7843, + 7929, + 8008, + 8063, + 8111, + 8216, + 8254, + 8347, + 8407, + 8483, + 8598, + 8693, + 8774, + 8866, + 8925, + 8996, + 9058, + 9140, + 9190, + 9296, + 9398, + 9491, + 9534, + 9605, + 9673, + 9767, + 9928], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,237] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 610 (index 0/114) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 19:48:36 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_6 in scene +[05/26 19:48:36 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_2_0_9 in scene +Goal: place round dish with handle and pattern next to brown bread +2026-05-26 19:48:36.860 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:37,804] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:39,653] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:40,200] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:40,403] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:40,407] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:05:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 610 episode 0 object objaservingdish_5d58816fa8534b568d8e96cd47a8f413_1_0_2 completed with success=False +[05/26 20:05:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_610: 1 episodes +[05/26 20:05:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:05:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:05:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_610 +[05/26 20:05:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_610 in 2.72s (batch: 2.63s, save: 0.09s) +[05/26 20:05:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_610 +[05/26 20:05:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 610: 0/1 successful episodes +[05/26 20:05:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 658 (index 1/114) +[05/26 20:05:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 658 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:05:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 20:05:35 Worker 0 WARNING object_manager.py:1238] Could not find object objacornermolding_90be9c61b979413b85ab8c572d29fb48_1_0_2 in scene +[05/26 20:05:35 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_2 in scene +Goal: place blue soldering iron next to smooth white ceramic serving bowl +[2026-05-26 20:06:37,369] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:07:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:18:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 658 episode 0 object objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_5 completed with success=False +[05/26 20:18:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_658: 1 episodes +[05/26 20:18:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:18:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:18:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_658 +[05/26 20:18:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_658 in 2.42s (batch: 2.33s, save: 0.09s) +[05/26 20:18:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_658 +[05/26 20:18:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 658: 0/1 successful episodes +[05/26 20:18:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 721 (index 2/114) +[05/26 20:18:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:18:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 20:19:14 Worker 0 WARNING object_manager.py:1238] Could not find object objaantlers_20b890af795b4e31b02f7aa6f8830a4c_1_0_2 in scene +[05/26 20:19:14 Worker 0 WARNING object_manager.py:1238] Could not find object cup_8375d1854544e7fff9c778ce52d47800_1_0_2 in scene +Goal: place vintage microphone with mesh next to wide flat greenish-gold vase +[2026-05-26 20:20:16,486] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:26:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 721 episode 0 object objamicrophone_3d7e9705612d4058982004abc58ffe5d_1_0_6 completed with success=True +[05/26 20:26:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_721: 1 episodes +[05/26 20:26:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 172 timesteps +[05/26 20:26:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:26:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_721 +[05/26 20:26:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_721 in 2.50s (batch: 2.45s, save: 0.05s) +[05/26 20:26:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_721 +[05/26 20:26:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 721: 1/1 successful episodes +[05/26 20:26:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 774 (index 3/114) +[05/26 20:26:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:26:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place stereo system next to brown leather football with laces +[2026-05-26 20:28:02,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:30:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 774 episode 0 object objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_2 completed with success=False +[05/26 20:30:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_774: 1 episodes +[05/26 20:30:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:30:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:30:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_774 +[05/26 20:30:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_774 in 2.84s (batch: 2.75s, save: 0.09s) +[05/26 20:30:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_774 +[05/26 20:30:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 774: 0/1 successful episodes +[05/26 20:30:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 853 (index 4/114) +[05/26 20:30:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:30:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/26 20:30:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place blue spray bottle with nozzle next to glossy red tomato with twisting stem +[2026-05-26 20:31:48,250] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:32:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:46:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 853 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8 completed with success=False +[05/26 20:46:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_853: 1 episodes +[05/26 20:46:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:46:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:46:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_853 +[05/26 20:46:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_853 in 2.41s (batch: 2.31s, save: 0.10s) +[05/26 20:46:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_853 +[05/26 20:46:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 853: 0/1 successful episodes +[05/26 20:46:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 923 (index 5/114) +[05/26 20:46:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:46:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place orange wand next to vintage metal lever on dark wooden base +[2026-05-26 20:47:52,519] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:48:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:59:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 923 episode 0 object objawand_ea36b5fb4fc94e37bde2db99384a1cc6_1_0_2 completed with success=False +[05/26 20:59:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_923: 1 episodes +[05/26 20:59:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:59:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:59:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_923 +[05/26 20:59:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_923 in 2.37s (batch: 2.28s, save: 0.09s) +[05/26 20:59:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_923 +[05/26 20:59:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 923: 0/1 successful episodes +[05/26 20:59:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1016 (index 6/114) +[05/26 20:59:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1016 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:59:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place gray stone arrowhead with sharp edges next to small shiny gold dog statue +[2026-05-26 21:00:23,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:10:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 1016 episode 0 object objaarrowhead_e4a837393e164540b04973adf53c10ed_1_0_7 completed with success=False +[05/26 21:10:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1016: 1 episodes +[05/26 21:10:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:10:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:10:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1016 +[05/26 21:10:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1016 in 2.78s (batch: 2.69s, save: 0.09s) +[05/26 21:10:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1016 +[05/26 21:10:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1016: 0/1 successful episodes +[05/26 21:10:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1129 (index 7/114) +[05/26 21:10:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1129 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:10:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place sleek glossy curved plastic frame next to black beanie with green gold pattern +[2026-05-26 21:12:38,257] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:30:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 1129 episode 0 object objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_6 completed with success=False +[05/26 21:30:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1129: 1 episodes +[05/26 21:30:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:30:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:30:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1129 +[05/26 21:30:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1129 in 2.84s (batch: 2.75s, save: 0.09s) +[05/26 21:30:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1129 +[05/26 21:30:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1129: 0/1 successful episodes +[05/26 21:30:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1215 (index 8/114) +[05/26 21:30:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1215 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:30:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place flat handle next to purple bottle +[2026-05-26 21:31:43,433] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:32:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:41:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 1215 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_6 completed with success=False +[05/26 21:41:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1215: 1 episodes +[05/26 21:41:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:41:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:41:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1215 +[05/26 21:41:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1215 in 2.38s (batch: 2.29s, save: 0.09s) +[05/26 21:41:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1215 +[05/26 21:41:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1215: 0/1 successful episodes +[05/26 21:41:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1281 (index 9/114) +[05/26 21:41:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:41:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place olive green hand smoke grenade next to laptop computer +[2026-05-26 21:42:35,298] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:43:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:55:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 1281 episode 0 object objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_7 completed with success=False +[05/26 21:55:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1281: 1 episodes +[05/26 21:55:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:55:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:55:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1281 +[05/26 21:55:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1281 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 21:55:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1281 +[05/26 21:55:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1281: 0/1 successful episodes +[05/26 21:55:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1357 (index 10/114) +[05/26 21:55:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:55:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/26 21:55:13 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_57e4a337b9ed97d4bd61cbfd9e2bdfde_1_0_2 in scene +Goal: place black virtual headset next to yellow device +[2026-05-26 21:56:14,652] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:02:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 1357 episode 0 object objavirtualrealityheadset_0d6c1d6aa3f747a5b35f8105ed585418_1_0_3 completed with success=False +[05/26 22:02:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1357: 1 episodes +[05/26 22:02:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:02:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:02:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1357 +[05/26 22:02:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1357 in 2.48s (batch: 2.39s, save: 0.09s) +[05/26 22:02:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1357 +[05/26 22:02:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1357: 0/1 successful episodes +[05/26 22:02:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1421 (index 11/114) +[05/26 22:02:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:02:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place purple flower pot with plant next to dark gray metal shackle with orange pin +[2026-05-26 22:03:34,796] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:04:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:12:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1421 episode 0 object objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6 completed with success=False +[05/26 22:12:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place dark gray metal shackle next to soap bottle +[2026-05-26 22:13:31,562] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:14:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:22:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 1421 episode 1 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False +[05/26 22:22:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1421: 2 episodes +[05/26 22:22:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:22:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:22:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:22:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:22:16 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421 +[05/26 22:22:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1421 in 5.42s (batch: 5.25s, save: 0.17s) +[05/26 22:22:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1421 +[05/26 22:22:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1421: 0/2 successful episodes +[05/26 22:22:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1440 (index 12/114) +[05/26 22:22:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1440 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:22:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place rustic stone tray next to medium dark metal cooking pot +[2026-05-26 22:23:36,893] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:24:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:42:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 1440 episode 0 object objastonetray_af335dd50e394ba0ab92dd4e4e86954d_1_0_2 completed with success=False +[05/26 22:42:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1440: 1 episodes +[05/26 22:42:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:42:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:42:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1440 +[05/26 22:42:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1440 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 22:42:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1440 +[05/26 22:42:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1440: 0/1 successful episodes +[05/26 22:42:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1598 (index 13/114) +[05/26 22:42:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1598 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:42:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 22:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objadigitalart_57f9e3d9c75d40c6b5cca76e6b94ccbc_2_0_4 in scene +[05/26 22:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene +[05/26 22:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objapettag_e7120b712b424f1d9607347cf5c4147b_1_0_8 in scene +Goal: place red rectangular box of pasta next to soap bottle +[2026-05-26 22:44:22,879] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:44:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:58:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 1598 episode 0 object objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_8 completed with success=False +[05/26 22:58:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1598: 1 episodes +[05/26 22:58:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:58:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:58:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1598 +[05/26 22:58:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1598 in 2.37s (batch: 2.28s, save: 0.09s) +[05/26 22:58:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1598 +[05/26 22:58:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1598: 0/1 successful episodes +[05/26 22:58:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1698 (index 14/114) +[05/26 22:58:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:58:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place compact black night vision scope next to smart display device +[2026-05-26 23:00:26,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:01:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:17:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 1698 episode 0 object objanightvisionscope_060a8c828d7a48789fbade22b83a2f15_1_0_6 completed with success=False +[05/26 23:17:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1698: 1 episodes +[05/26 23:17:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:17:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:17:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1698 +[05/26 23:17:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1698 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 23:17:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1698 +[05/26 23:17:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1698: 0/1 successful episodes +[05/26 23:17:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1765 (index 15/114) +[05/26 23:17:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:17:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/26 23:17:36 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_6 in scene +[05/26 23:17:36 Worker 0 WARNING object_manager.py:1238] Could not find object plate_c15e3f7680e3167e2f8d34f3a4bbadaf_1_0_6 in scene +Goal: place wooden pestle with jagged top next to blue rounded pot with handles and straps +[2026-05-26 23:18:39,679] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:19:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:28:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 1765 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_6 completed with success=False +[05/26 23:28:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1765: 1 episodes +[05/26 23:28:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:29:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:29:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1765 +[05/26 23:29:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1765 in 2.72s (batch: 2.63s, save: 0.09s) +[05/26 23:29:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1765 +[05/26 23:29:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1765: 0/1 successful episodes +[05/26 23:29:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1862 (index 16/114) +[05/26 23:29:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1862 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:29:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 23:29:06 Worker 0 WARNING object_manager.py:1238] Could not find object objatube_0f7ec1dcb01d4943972e3a9168f52e8e_1_0_5 in scene +[05/26 23:29:06 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_8f07a87f281343009ff480f8d7e5db83_1_0_9 in scene +[05/26 23:29:06 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_6a037139d50e4150bd30c7e900126779_1_0_9 in scene +Goal: place blue bifold wallet with brown interior next to soap dispenser +[2026-05-26 23:30:08,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:30:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:41:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 1862 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_8 completed with success=False +[05/26 23:41:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1862: 1 episodes +[05/26 23:41:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:41:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:41:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1862 +[05/26 23:41:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1862 in 2.66s (batch: 2.57s, save: 0.09s) +[05/26 23:41:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1862 +[05/26 23:41:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1862: 0/1 successful episodes +[05/26 23:41:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1937 (index 17/114) +[05/26 23:41:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:41:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place tissue paper next to purple spray bottle with white nozzle +[2026-05-26 23:42:49,266] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:43:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:54:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1937 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 completed with success=False +[05/26 23:54:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1937: 1 episodes +[05/26 23:54:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:54:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:54:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1937 +[05/26 23:54:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1937 in 2.67s (batch: 2.59s, save: 0.09s) +[05/26 23:54:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1937 +[05/26 23:54:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1937: 0/1 successful episodes +[05/26 23:54:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2034 (index 18/114) +[05/26 23:54:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2034 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:54:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place vibrant magenta coil spring on base next to cassetteplayer +[2026-05-26 23:56:02,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:09:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2034 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_3 completed with success=False +[05/27 00:09:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2034: 1 episodes +[05/27 00:09:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:09:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:09:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2034 +[05/27 00:09:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2034 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 00:09:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2034 +[05/27 00:09:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2034: 0/1 successful episodes +[05/27 00:09:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2142 (index 19/114) +[05/27 00:09:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:09:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 00:10:25 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place pointed brass bullet with tip next to gold vintage camera +[2026-05-27 00:11:27,256] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:12:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:27:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 2142 episode 0 object objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_8 completed with success=False +[05/27 00:27:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2142: 1 episodes +[05/27 00:27:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:27:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:27:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2142 +[05/27 00:27:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2142 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 00:27:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2142 +[05/27 00:27:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2142: 0/1 successful episodes +[05/27 00:27:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2245 (index 20/114) +[05/27 00:27:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2245 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:27:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 00:27:46 Worker 0 WARNING object_manager.py:1238] Could not find object apple_8a1c7fb834f6201db020cae968b49bbc_1_0_8 in scene +Goal: place garden hose connector next to thick yellow hardcover book +[2026-05-27 00:28:49,363] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:29:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:42:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 2245 episode 0 object objagardenhoseconnector_bf765bb3a0824d8fb21121f299b44df4_1_0_8 completed with success=False +[05/27 00:43:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2245: 1 episodes +[05/27 00:43:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:43:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:43:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2245 +[05/27 00:43:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2245 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 00:43:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2245 +[05/27 00:43:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2245: 0/1 successful episodes +[05/27 00:43:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2360 (index 21/114) +[05/27 00:43:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2360 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:43:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place paint roller with textured off-white head next to white ceramic vase with subtle ridges +[2026-05-27 00:44:45,538] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:45:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:55:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 2360 episode 0 object objapaintroller_002a355c77774228b15db50d77d0e002_1_0_6 completed with success=False +[05/27 00:55:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2360: 1 episodes +[05/27 00:55:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:55:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:55:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2360 +[05/27 00:55:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2360 in 2.41s (batch: 2.31s, save: 0.09s) +[05/27 00:55:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2360 +[05/27 00:55:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2360: 0/1 successful episodes +[05/27 00:55:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2465 (index 22/114) +[05/27 00:55:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:55:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/27 00:55:54 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_1e4728cf567cf815d1bc4e37bc564bdc_1_0_2 in scene +Goal: place medium smooth red apple next to crumpled white plastic bag with stains +[2026-05-27 00:56:56,947] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:57:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:04:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 2465 episode 0 object apple_8a1c7fb834f6201db020cae968b49bbc_1_0_2 completed with success=False +[05/27 01:04:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2465: 1 episodes +[05/27 01:04:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:04:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:04:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2465 +[05/27 01:04:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2465 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 01:04:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2465 +[05/27 01:04:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2465: 0/1 successful episodes +[05/27 01:04:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2502 (index 23/114) +[05/27 01:04:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:04:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 01:04:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaplushtoy_f08a0ca0ca13418fa5dec0b11df9cb82_1_0_3 in scene +[05/27 01:04:53 Worker 0 WARNING object_manager.py:1238] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_3 in scene +Goal: place old-fashioned metal pencil sharpener next to round brown bread loaf domed +[2026-05-27 01:05:57,055] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:20:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 2502 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_2 completed with success=False +[05/27 01:20:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2502: 1 episodes +[05/27 01:20:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:20:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:20:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2502 +[05/27 01:20:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2502 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 01:20:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2502 +[05/27 01:20:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2502: 0/1 successful episodes +[05/27 01:20:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2638 (index 24/114) +[05/27 01:20:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2638 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:20:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place purple plastic spray bottle with trigger next to blue toaster with two slots +[2026-05-27 01:22:13,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:25:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 2638 episode 0 object atomizer_834d386e080077accc22e6eae5471528_1_0_6 completed with success=False +[05/27 01:26:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2638: 1 episodes +[05/27 01:26:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:26:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:26:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2638 +[05/27 01:26:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2638 in 2.45s (batch: 2.35s, save: 0.09s) +[05/27 01:26:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2638 +[05/27 01:26:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2638: 0/1 successful episodes +[05/27 01:26:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2775 (index 25/114) +[05/27 01:26:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:26:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place oblong brown potato with blemishes next to antique cannon model +[2026-05-27 01:27:09,753] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:34:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2775 episode 0 object objapotato_77c957c8e7054cf4909472bfdaa04328_1_0_2 completed with success=False +[05/27 01:34:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2775: 1 episodes +[05/27 01:34:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:34:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:34:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2775 +[05/27 01:34:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2775 in 2.71s (batch: 2.61s, save: 0.10s) +[05/27 01:34:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2775 +[05/27 01:34:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2775: 0/1 successful episodes +[05/27 01:34:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2853 (index 26/114) +[05/27 01:34:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:34:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place wooden paddle with black decorative rectangles next to laptop computer +[2026-05-27 01:37:01,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:54:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2853 episode 0 object objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_8 completed with success=False +[05/27 01:54:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2853: 1 episodes +[05/27 01:54:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:54:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:54:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2853 +[05/27 01:54:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2853 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 01:54:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2853 +[05/27 01:54:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2853: 0/1 successful episodes +[05/27 01:54:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2948 (index 27/114) +[05/27 01:54:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2948 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:54:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place deer bust with red collar next to yellow handled kitchen knife +[2026-05-27 01:58:10,000] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:58:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:06:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 2948 episode 0 object objadecorativebust_5a6e5b23243d41a2a5cec0e259c56ba3_1_0_6 completed with success=False +[05/27 02:06:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2948: 1 episodes +[05/27 02:06:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:06:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:06:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2948 +[05/27 02:06:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2948 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 02:06:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2948 +[05/27 02:06:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2948: 0/1 successful episodes +[05/27 02:06:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3052 (index 28/114) +[05/27 02:06:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3052 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:06:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 02:06:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene +Goal: place black spray paint can next to olive scalloped ceramic plate +[2026-05-27 02:07:59,321] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:08:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:19:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 3052 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_7 completed with success=False +[05/27 02:19:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3052: 1 episodes +[05/27 02:19:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:19:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:19:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3052 +[05/27 02:19:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3052 in 2.44s (batch: 2.34s, save: 0.09s) +[05/27 02:19:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3052 +[05/27 02:19:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3052: 0/1 successful episodes +[05/27 02:19:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3190 (index 29/114) +[05/27 02:19:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:19:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place futuristic device next to blue soap bottle +[2026-05-27 02:20:44,991] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:21:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:32:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 3190 episode 0 object objaappliance_a295613096c54e6e9c898469e8afc236_1_0_6 completed with success=False +[05/27 02:32:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3190: 1 episodes +[05/27 02:32:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:32:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:32:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3190 +[05/27 02:32:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3190 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 02:32:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3190 +[05/27 02:32:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3190: 0/1 successful episodes +[05/27 02:32:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3247 (index 30/114) +[05/27 02:32:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:32:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 02:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 02:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +Goal: place rectangular metal plate mount next to gray butterfly with geometric patterns +[2026-05-27 02:34:18,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:44:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 3247 episode 0 object objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2 completed with success=False +[05/27 02:44:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3247: 1 episodes +[05/27 02:44:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:44:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:44:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3247 +[05/27 02:44:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3247 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 02:44:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3247 +[05/27 02:44:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3247: 0/1 successful episodes +[05/27 02:44:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3284 (index 31/114) +[05/27 02:44:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3284 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:44:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/61 [00:00 does not support tracking retries. +Goal: place glossy deep red arrow sign next to bulbous shiny gold metallic vase +[2026-05-27 02:46:12,435] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:46:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:05:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 3284 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_2 completed with success=False +[05/27 03:05:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3284: 1 episodes +[05/27 03:05:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:05:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:05:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3284 +[05/27 03:05:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3284 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 03:05:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3284 +[05/27 03:05:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3284: 0/1 successful episodes +[05/27 03:05:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3373 (index 32/114) +[05/27 03:05:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3373 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:05:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place vintage desk calendar with handle next to dark gray laptop with keyboard +[2026-05-27 03:06:54,072] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:07:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:08:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3373 episode 0 object objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_2 completed with success=True +[05/27 03:08:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3373: 1 episodes +[05/27 03:08:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/27 03:08:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:08:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3373 +[05/27 03:08:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3373 in 2.45s (batch: 2.43s, save: 0.03s) +[05/27 03:08:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3373 +[05/27 03:08:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3373: 1/1 successful episodes +[05/27 03:08:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3420 (index 33/114) +[05/27 03:08:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:08:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 03:08:21 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene +Goal: place curled vintage ribbon with text next to small dark brown potato +[2026-05-27 03:09:25,770] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:09:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:23:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3420 episode 0 object objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_2 completed with success=False +[05/27 03:23:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3420: 1 episodes +[05/27 03:23:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:23:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:23:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3420 +[05/27 03:23:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3420 in 2.51s (batch: 2.41s, save: 0.10s) +[05/27 03:23:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3420 +[05/27 03:23:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3420: 0/1 successful episodes +[05/27 03:23:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3515 (index 34/114) +[05/27 03:23:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:23:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place transceiver next to weathered metallic electrical box with handle +[2026-05-27 03:24:47,191] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:25:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:32:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3515 episode 0 object objanetworkdevice_224e056b02a040039f7c4a9b141e25e5_1_0_2 completed with success=False +[05/27 03:32:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3515: 1 episodes +[05/27 03:32:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:32:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:32:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3515 +[05/27 03:32:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3515 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 03:33:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3515 +[05/27 03:33:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3515: 0/1 successful episodes +[05/27 03:33:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3626 (index 35/114) +[05/27 03:33:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3626 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:33:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place teal cordless grinder next to house plant +[2026-05-27 03:34:16,907] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:34:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:47:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 3626 episode 0 object objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_4 completed with success=False +[05/27 03:47:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3626: 1 episodes +[05/27 03:47:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:47:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:47:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3626 +[05/27 03:47:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3626 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 03:47:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3626 +[05/27 03:47:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3626: 0/1 successful episodes +[05/27 03:47:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3721 (index 36/114) +[05/27 03:47:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:47:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 03:47:42 Worker 0 WARNING object_manager.py:1238] Could not find object objagymladder_15cc0301b4ba494895eff8aa74c1fb7f_1_0_4 in scene +Goal: place striped teacup next to smooth red apple +[2026-05-27 03:48:45,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:08:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 3721 episode 0 object objateacup_8f63a888a2c3473eabef51c650c82b45_1_0_2 completed with success=False +[05/27 04:08:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3721: 1 episodes +[05/27 04:08:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:08:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:08:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3721 +[05/27 04:08:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3721 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 04:08:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3721 +[05/27 04:08:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3721: 0/1 successful episodes +[05/27 04:08:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3763 (index 37/114) +[05/27 04:08:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:08:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place photographic camera next to bulbous shiny gold metallic vase +[2026-05-27 04:09:49,858] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:10:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:21:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 3763 episode 0 object objacamera_6932f08350dc47179ec8dd1ac0d18ce8_1_0_6 completed with success=False +[05/27 04:21:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3763: 1 episodes +[05/27 04:21:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:21:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3763 +[05/27 04:21:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3763 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 04:21:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3763 +[05/27 04:21:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3763: 0/1 successful episodes +[05/27 04:21:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3908 (index 38/114) +[05/27 04:21:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3908 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:21:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[05/27 04:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_e3b5326e94c441f59d9833835a01a6f7_1_0_2 in scene +[05/27 04:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_2 in scene +Goal: place green and white athletic shoe next to guitar effects pedal +[2026-05-27 04:22:32,671] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:23:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:28:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 3908 episode 0 object objaathleticshoe_f13de6ea58204192ab4250342bd69aac_1_0_2 completed with success=False +[05/27 04:28:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3908: 1 episodes +[05/27 04:28:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:28:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:28:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3908 +[05/27 04:28:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3908 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 04:28:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3908 +[05/27 04:28:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3908: 0/1 successful episodes +[05/27 04:28:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4019 (index 39/114) +[05/27 04:28:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:28:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place dark gray cylindrical metal coil spring next to instrumentation +[2026-05-27 04:29:21,516] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:41:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4019 episode 0 object objaspring_3071830f2d3e4b57a59976719298c808_1_0_7 completed with success=False +[05/27 04:41:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place instrumentation next to dark gray cylindrical metal coil spring +[2026-05-27 04:42:15,538] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:54:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4019 episode 1 object objahandhelddevice_fd9fdf81ab624a66897bbd8ac299e26f_1_0_7 completed with success=False +[05/27 04:54:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4019: 2 episodes +[05/27 04:54:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:54:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:54:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:54:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:54:09 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4019 +[05/27 04:54:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4019 in 5.51s (batch: 5.35s, save: 0.17s) +[05/27 04:54:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4019 +[05/27 04:54:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4019: 0/2 successful episodes +[05/27 04:54:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4030 (index 40/114) +[05/27 04:54:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:54:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place rectangular metallic effects pedal next to gray dispenser with metallic tip +[2026-05-27 04:55:18,570] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:11:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4030 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 completed with success=False +[05/27 05:11:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4030: 1 episodes +[05/27 05:11:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:11:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:11:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4030 +[05/27 05:11:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4030 in 2.70s (batch: 2.62s, save: 0.09s) +[05/27 05:11:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4030 +[05/27 05:11:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4030: 0/1 successful episodes +[05/27 05:11:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4132 (index 41/114) +[05/27 05:11:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:11:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place black capsule next to voxel gray medieval cannon +[2026-05-27 05:12:20,140] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:12:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:24:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 4132 episode 0 object objacapsule_870611a797c1472197872d137247a094_1_0_8 completed with success=False +[05/27 05:24:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4132: 1 episodes +[05/27 05:24:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:24:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:24:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4132 +[05/27 05:24:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4132 in 2.35s (batch: 2.26s, save: 0.09s) +[05/27 05:24:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4132 +[05/27 05:24:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4132: 0/1 successful episodes +[05/27 05:24:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4200 (index 42/114) +[05/27 05:24:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:24:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place rectangular metal plate mount next to curved off-white jawbone with teeth +[2026-05-27 05:25:22,567] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:25:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:31:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4200 episode 0 object objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2 completed with success=False +[05/27 05:31:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4200: 1 episodes +[05/27 05:31:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:31:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:31:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4200 +[05/27 05:31:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4200 in 2.76s (batch: 2.66s, save: 0.09s) +[05/27 05:31:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4200 +[05/27 05:31:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4200: 0/1 successful episodes +[05/27 05:31:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4273 (index 43/114) +[05/27 05:31:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:31:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place metal hinge next to tall copper cup with ridges +[2026-05-27 05:32:29,867] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:33:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:38:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4273 episode 0 object objahinge_4587c40e36704e7a96ffebad95028160_1_0_2 completed with success=False +[05/27 05:38:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4273: 1 episodes +[05/27 05:38:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:38:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:38:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4273 +[05/27 05:38:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4273 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 05:38:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4273 +[05/27 05:38:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4273: 0/1 successful episodes +[05/27 05:38:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4320 (index 44/114) +[05/27 05:38:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:38:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +Goal: place bold multicolored eyeglasses with rectangular openings next to open brown cardboard storage box +[2026-05-27 05:39:29,983] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:40:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:45:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4320 episode 0 object objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_2 completed with success=False +[05/27 05:45:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4320: 1 episodes +[05/27 05:45:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:45:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:45:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4320 +[05/27 05:45:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4320 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 05:45:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4320 +[05/27 05:45:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4320: 0/1 successful episodes +[05/27 05:45:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4396 (index 45/114) +[05/27 05:45:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:45:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 05:45:59 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_4 in scene +[05/27 05:45:59 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_4 in scene +Goal: place black metal locking pliers next to smooth medium red apple +[2026-05-27 05:47:02,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:47:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:59:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4396 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False +[05/27 05:59:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4396: 1 episodes +[05/27 05:59:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:59:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:59:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4396 +[05/27 05:59:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4396 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 06:00:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4396 +[05/27 06:00:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4396: 0/1 successful episodes +[05/27 06:00:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4480 (index 46/114) +[05/27 06:00:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:00:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place sharpeningsteel next to gray pigeon with spread wings +[2026-05-27 06:01:19,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:17:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4480 episode 0 object objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_7 completed with success=False +[05/27 06:17:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4480: 1 episodes +[05/27 06:17:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:17:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:17:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4480 +[05/27 06:17:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4480 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 06:17:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4480 +[05/27 06:17:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4480: 0/1 successful episodes +[05/27 06:17:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4584 (index 47/114) +[05/27 06:17:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4584 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:17:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 06:17:13 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_5 in scene +Goal: place dark metal container with aged label next to decorative yellow striped fish +[2026-05-27 06:18:17,565] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:18:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:30:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 4584 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6 completed with success=False +[05/27 06:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4584: 1 episodes +[05/27 06:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:30:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:30:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4584 +[05/27 06:30:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4584 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 06:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4584 +[05/27 06:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4584: 0/1 successful episodes +[05/27 06:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4662 (index 48/114) +[05/27 06:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:30:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place pink scepter with wings and gold next to shiny smooth red apple +[2026-05-27 06:31:28,791] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:32:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:48:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4662 episode 0 object objascepter_4efafd930f154d6a99ec9818d0f3a66a_1_0_2 completed with success=False +[05/27 06:48:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4662: 1 episodes +[05/27 06:48:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:48:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:48:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4662 +[05/27 06:48:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4662 in 2.80s (batch: 2.72s, save: 0.09s) +[05/27 06:48:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4662 +[05/27 06:48:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4662: 0/1 successful episodes +[05/27 06:48:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4706 (index 49/114) +[05/27 06:48:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4706 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:48:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_4 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_7 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene +Goal: place triangular white sandwich next to rectangular transparent soap bottle +[2026-05-27 06:49:41,379] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:50:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:00:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4706 episode 0 object objasandwich_8e8b342613f0477182ec8586876291cf_1_0_8 completed with success=False +[05/27 07:00:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4706: 1 episodes +[05/27 07:00:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:00:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:00:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4706 +[05/27 07:00:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4706 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 07:00:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4706 +[05/27 07:00:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4706: 0/1 successful episodes +[05/27 07:00:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4774 (index 50/114) +[05/27 07:00:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:00:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 07:01:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/27 07:01:00 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene +Goal: place orange envelope with currency seal next to pear-shaped beige ceramic hanging weight +[2026-05-27 07:02:03,810] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:02:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:12:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4774 episode 0 object objaenvelope_321bc258ef67468cbc2377bb48782f4a_1_0_6 completed with success=False +[05/27 07:12:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4774: 1 episodes +[05/27 07:12:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:12:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:12:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4774 +[05/27 07:12:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4774 in 2.72s (batch: 2.61s, save: 0.11s) +[05/27 07:12:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4774 +[05/27 07:12:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4774: 0/1 successful episodes +[05/27 07:12:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4867 (index 51/114) +[05/27 07:12:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:12:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 07:12:57 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/27 07:12:57 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place pink card with bow and flowers next to large winged fierce dragon model +[2026-05-27 07:14:00,918] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:14:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:29:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4867 episode 0 object objadecorativecard_55b595711d0e4b0f894d1ce1f6b1f050_1_0_2 completed with success=False +[05/27 07:29:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4867: 1 episodes +[05/27 07:29:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:30:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:30:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4867 +[05/27 07:30:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4867 in 2.46s (batch: 2.36s, save: 0.10s) +[05/27 07:30:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4867 +[05/27 07:30:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4867: 0/1 successful episodes +[05/27 07:30:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4939 (index 52/114) +[05/27 07:30:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:30:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_3374ae9c1eda0e38f47bce321c360e2d_1_0_4 in scene +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place cellphone next to breadstuff +[2026-05-27 07:31:10,920] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:46:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4939 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8 completed with success=False +[05/27 07:46:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4939: 1 episodes +[05/27 07:46:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:46:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:46:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4939 +[05/27 07:46:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4939 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 07:46:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4939 +[05/27 07:46:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4939: 0/1 successful episodes +[05/27 07:46:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5038 (index 53/114) +[05/27 07:46:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5038 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:46:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place translucent blue capsule next to smooth yellow apple with stem +[2026-05-27 07:47:33,323] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:48:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:02:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5038 episode 0 object objacapsule_5ff3a5a3cef64439905910e86d37ec57_1_0_2 completed with success=False +[05/27 08:02:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5038: 1 episodes +[05/27 08:02:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:02:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:02:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5038 +[05/27 08:02:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5038 in 2.93s (batch: 2.84s, save: 0.09s) +[05/27 08:02:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5038 +[05/27 08:02:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5038: 0/1 successful episodes +[05/27 08:02:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5131 (index 54/114) +[05/27 08:02:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5131 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:02:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 08:02:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturehouse_11ed0808fff74f6b8c5a3548743b0b03_1_0_5 in scene +[05/27 08:02:30 Worker 0 WARNING object_manager.py:1238] Could not find object objatorch_e88c4214d4bc4437ae6d249237591071_1_0_5 in scene +Goal: place gray triangular rugged stone tool next to ornate golden mirror with purple surface +[2026-05-27 08:03:32,826] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:04:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:20:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5131 episode 0 object objastonetool_98c2763ae351483da79dc4da9b3dc043_1_0_3 completed with success=False +[05/27 08:20:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5131: 1 episodes +[05/27 08:20:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:20:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:20:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5131 +[05/27 08:20:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5131 in 2.78s (batch: 2.68s, save: 0.09s) +[05/27 08:20:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5131 +[05/27 08:20:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5131: 0/1 successful episodes +[05/27 08:20:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5193 (index 55/114) +[05/27 08:20:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5193 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:20:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 08:20:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepiece_46e9d39e5a084c57b909c443e3b4fbf8_1_0_3 in scene +[05/27 08:20:50 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_4a51b9da92477e478b1a5867575dc6a1_1_0_3 in scene +Goal: place aerosol bomb next to blue spray bottle +[2026-05-27 08:21:52,821] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:22:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:38:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5193 episode 0 object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_2 completed with success=False +[05/27 08:38:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5193: 1 episodes +[05/27 08:38:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5193 +[05/27 08:38:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5193 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 08:38:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5193 +[05/27 08:38:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5193: 0/1 successful episodes +[05/27 08:38:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5319 (index 56/114) +[05/27 08:38:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:38:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_2_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objanaturalsponge_9a1d1f335f274039bf791192c39dcc7b_1_0_9 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_fdf53823d30f4fed9a5423d6b6cbfad1_1_0_9 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_9 in scene +Goal: place red and white can next to smooth rounded ceramic bowl with rim +[2026-05-27 08:40:05,641] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:42:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5319 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_2 completed with success=False +[05/27 08:42:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5319: 1 episodes +[05/27 08:42:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:42:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:42:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5319 +[05/27 08:42:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5319 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 08:42:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5319 +[05/27 08:42:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5319: 0/1 successful episodes +[05/27 08:42:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5449 (index 57/114) +[05/27 08:42:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5449 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:42:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place square blue plate next to vintage green military radio with handle +[2026-05-27 08:43:53,835] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:44:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:55:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5449 episode 0 object plate_838def382388bb29da57a8cddc03b072_1_0_6 completed with success=False +[05/27 08:55:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5449: 1 episodes +[05/27 08:55:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:55:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:55:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5449 +[05/27 08:55:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5449 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 08:55:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5449 +[05/27 08:55:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5449: 0/1 successful episodes +[05/27 08:55:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5539 (index 58/114) +[05/27 08:55:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5539 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:55:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place circular disc with colorful front design next to bulbous shiny gold vase +[2026-05-27 08:56:28,210] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:57:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:05:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5539 episode 0 object objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_2 completed with success=False +[05/27 09:05:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5539: 1 episodes +[05/27 09:05:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:05:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:05:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5539 +[05/27 09:05:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5539 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:05:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5539 +[05/27 09:05:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5539: 0/1 successful episodes +[05/27 09:05:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5599 (index 59/114) +[05/27 09:05:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:05:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaleafsculpture_291ecf00a4cd46c085e48aeff1ecd473_1_0_6 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebow_2c1c2d60cc4b42759400891f80414411_1_0_7 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_7 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_7 in scene +Goal: place blue emblem with metallic a and text next to cream candle in blue holder +[2026-05-27 09:06:54,594] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:19:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 5599 episode 0 object objadecorativeemblem_dc44a9d16aaa4b61addce2a8480f54f6_1_0_5 completed with success=False +[05/27 09:19:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5599: 1 episodes +[05/27 09:19:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:19:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:19:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5599 +[05/27 09:19:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5599 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:19:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5599 +[05/27 09:19:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5599: 0/1 successful episodes +[05/27 09:19:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5654 (index 60/114) +[05/27 09:19:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:19:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place dark gemstone next to smooth shallow light brown bowl +[2026-05-27 09:20:44,433] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:21:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:37:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 5654 episode 0 object objagemstone_175e4e432e6f4304af73c7fff56be773_1_0_2 completed with success=False +[05/27 09:37:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5654: 1 episodes +[05/27 09:37:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:37:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:37:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5654 +[05/27 09:37:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5654 in 2.41s (batch: 2.31s, save: 0.10s) +[05/27 09:37:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5654 +[05/27 09:37:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5654: 0/1 successful episodes +[05/27 09:37:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5758 (index 61/114) +[05/27 09:37:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5758 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:37:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place green gemstone next to matte dark gray bowl +[2026-05-27 09:39:26,482] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:39:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:51:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5758 episode 0 object objagemstone_3a9d89ec0d6642ee8a8fc42a1361c701_1_0_9 completed with success=False +[05/27 09:51:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5758: 1 episodes +[05/27 09:51:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:51:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:51:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5758 +[05/27 09:51:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5758 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 09:51:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5758 +[05/27 09:51:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5758: 0/1 successful episodes +[05/27 09:51:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5880 (index 62/114) +[05/27 09:51:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:51:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 09:52:09 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_3 in scene +[05/27 09:52:09 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_3 in scene +Goal: place blue rectangular alarm clock with knob next to iridescent translucent blue star ornament +[2026-05-27 09:53:12,938] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:06:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 5880 episode 0 object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_5 completed with success=False +[05/27 10:06:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5880: 1 episodes +[05/27 10:06:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:06:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:06:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5880 +[05/27 10:06:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5880 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 10:06:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5880 +[05/27 10:06:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5880: 0/1 successful episodes +[05/27 10:06:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5915 (index 63/114) +[05/27 10:06:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 10:06:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place storage device next to ornate vintage brass bell +[2026-05-27 10:08:16,644] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:23:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5915 episode 0 object objaminidvtape_8ce4607326784eda8675e3bcfb11ff6f_1_0_8 completed with success=False +[05/27 10:23:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5915: 1 episodes +[05/27 10:23:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:23:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:23:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5915 +[05/27 10:23:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5915 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 10:23:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5915 +[05/27 10:23:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5915: 0/1 successful episodes +[05/27 10:23:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6030 (index 64/114) +[05/27 10:23:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 10:23:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place slender wooden needle with hole next to handheld drill +[2026-05-27 10:24:55,227] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:34:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 6030 episode 0 object objaneedle_9abd71cdbfbd4af8a900b0fb4b3f2d70_1_0_7 completed with success=False +[05/27 10:34:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6030: 1 episodes +[05/27 10:34:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:34:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:34:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6030 +[05/27 10:34:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6030 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 10:34:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6030 +[05/27 10:34:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6030: 0/1 successful episodes +[05/27 10:34:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6072 (index 65/114) +[05/27 10:34:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6072 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 10:34:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 10:34:58 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +[05/27 10:34:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_2d786307e3f14da89e0056b8675f340f_1_0_5 in scene +Goal: place vintage metal drafting compass with handle next to black gas mask with cross symbol +[2026-05-27 10:36:02,006] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:36:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:50:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6072 episode 0 object objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_4 completed with success=False +[05/27 10:50:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 10:50:53 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +[05/27 10:50:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_2d786307e3f14da89e0056b8675f340f_1_0_5 in scene +Goal: place crumpled silver metallic foil next to switch plate +[2026-05-27 10:51:56,967] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:52:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:06:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 6072 episode 1 object objafoil_67f6e895f5f34572afc152008228d819_1_0_7 completed with success=False +[05/27 11:06:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6072: 2 episodes +[05/27 11:06:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:06:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:07:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:07:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:07:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6072 +[05/27 11:07:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6072 in 5.04s (batch: 4.87s, save: 0.17s) +[05/27 11:07:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6072 +[05/27 11:07:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6072: 0/2 successful episodes +[05/27 11:07:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6102 (index 66/114) +[05/27 11:07:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:07:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 11:07:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadog_8e613ab54ccb486c80a5042e8ff7424c_1_0_6 in scene +[05/27 11:07:27 Worker 0 WARNING object_manager.py:1238] Could not find object vase_5e3958a310670d88fd4347b82c234dda_1_0_6 in scene +Goal: place small green artificial aloe plant next to translucent plastic ergonomic spray bottle +[2026-05-27 11:08:29,673] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:09:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:26:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 6102 episode 0 object objaartificialplant_23ce2fda23bb4e68a289675be2ce511e_1_0_2 completed with success=False +[05/27 11:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6102: 1 episodes +[05/27 11:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:27:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:27:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6102 +[05/27 11:27:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6102 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 11:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6102 +[05/27 11:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6102: 0/1 successful episodes +[05/27 11:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6199 (index 67/114) +[05/27 11:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6199 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place fresh ginger root with colorful shoots next to rectangular red metal toaster with controls +[2026-05-27 11:28:19,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:28:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:35:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 6199 episode 0 object objagingerroot_302be40cdf08485aac1111f39e70dbd0_2_0_2 completed with success=False +[05/27 11:35:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6199: 1 episodes +[05/27 11:35:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:35:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:35:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6199 +[05/27 11:35:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6199 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 11:35:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6199 +[05/27 11:35:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6199: 0/1 successful episodes +[05/27 11:35:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6252 (index 68/114) +[05/27 11:35:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6252 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:35:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place yellow handheld gps next to round loaf with brown crust +[2026-05-27 11:37:03,825] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:37:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:46:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 6252 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_6 completed with success=False +[05/27 11:47:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6252: 1 episodes +[05/27 11:47:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:47:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:47:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6252 +[05/27 11:47:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6252 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 11:47:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6252 +[05/27 11:47:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6252: 0/1 successful episodes +[05/27 11:47:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6298 (index 69/114) +[05/27 11:47:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:47:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place terracotta owl vessel with spout next to blue toy monster truck +[2026-05-27 11:48:15,572] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:48:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:51:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 6298 episode 0 object objavessel_8bd6e267f265481682e17f696b201103_1_0_6 completed with success=True +[05/27 11:51:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6298: 1 episodes +[05/27 11:51:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 118 timesteps +[05/27 11:51:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:51:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6298 +[05/27 11:51:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6298 in 2.33s (batch: 2.29s, save: 0.04s) +[05/27 11:51:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6298 +[05/27 11:51:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6298: 1/1 successful episodes +[05/27 11:51:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6382 (index 70/114) +[05/27 11:51:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:51:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 11:51:47 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_5 in scene +[05/27 11:51:47 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6 in scene +Goal: place stylized blue fish with yellow fins next to fresh green spherical head lettuce +[2026-05-27 11:52:51,114] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:53:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:09:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6382 episode 0 object objatoyfish_ce9b4915b37042308e4e6dadbcf91087_1_0_2 completed with success=False +[05/27 12:09:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6382: 1 episodes +[05/27 12:09:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:09:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:09:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6382 +[05/27 12:09:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6382 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 12:09:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6382 +[05/27 12:09:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6382: 0/1 successful episodes +[05/27 12:09:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6438 (index 71/114) +[05/27 12:09:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6438 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 12:09:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 12:10:09 Worker 0 WARNING object_manager.py:1238] Could not find object objagardentrowel_f4d44155b3c04a0aaedd5c90428d52e3_1_0_8 in scene +[05/27 12:10:09 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_8 in scene +Goal: place hand tool next to chunky pink and white knitted beanie +[2026-05-27 12:11:13,443] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:30:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 6438 episode 0 object objaawl_a001d9c9ea68400d9e57893975d3d39d_1_0_7 completed with success=False +[05/27 12:30:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6438: 1 episodes +[05/27 12:30:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:30:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:30:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6438 +[05/27 12:30:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6438 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 12:30:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6438 +[05/27 12:30:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6438: 0/1 successful episodes +[05/27 12:30:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6538 (index 72/114) +[05/27 12:30:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6538 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 12:30:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/61 [00:00 does not support tracking retries. +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_7 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyjet_df89e1dd4ea349ee9290de90ae4bef05_1_0_7 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_9 in scene +Goal: place elongated rough dried fish next to tall dark cup +[2026-05-27 12:31:49,348] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:50:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6538 episode 0 object objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_2_0_2 completed with success=False +[05/27 12:50:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6538: 1 episodes +[05/27 12:50:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:50:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:50:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6538 +[05/27 12:50:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6538 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 12:50:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6538 +[05/27 12:50:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6538: 0/1 successful episodes +[05/27 12:50:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6696 (index 73/114) +[05/27 12:50:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6696 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 12:50:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place white stand with flag next to white analog stopwatch +[2026-05-27 12:52:15,794] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:04:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 6696 episode 0 object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_3 completed with success=False +[05/27 13:04:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6696: 1 episodes +[05/27 13:04:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:04:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:04:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6696 +[05/27 13:04:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6696 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 13:04:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6696 +[05/27 13:04:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6696: 0/1 successful episodes +[05/27 13:04:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6758 (index 74/114) +[05/27 13:04:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6758 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:04:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place shiny metallic coil spring cylinder next to sleek adjustable black silver arm +[2026-05-27 13:06:02,997] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:06:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:18:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 6758 episode 0 object objacoilspring_bff10a4e7bb14d6f860f861f54134543_1_0_7 completed with success=False +[05/27 13:18:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6758: 1 episodes +[05/27 13:18:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:18:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:18:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6758 +[05/27 13:18:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6758 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 13:18:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6758 +[05/27 13:18:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6758: 0/1 successful episodes +[05/27 13:18:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6883 (index 75/114) +[05/27 13:18:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6883 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:18:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 13:19:06 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_8 in scene +[05/27 13:19:06 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_8 in scene +Goal: place promotional sign next to soapdispenser +[2026-05-27 13:20:08,932] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:20:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:24:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 6883 episode 0 object objasign_391b2617850d489e8e717d00c24eada6_1_0_8 completed with success=False +[05/27 13:24:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6883: 1 episodes +[05/27 13:24:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:24:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:24:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6883 +[05/27 13:24:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6883 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 13:24:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6883 +[05/27 13:24:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6883: 0/1 successful episodes +[05/27 13:24:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6937 (index 76/114) +[05/27 13:24:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:24:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place jagged white marble piece with veins next to green hardcover book titled the effective engineer +[2026-05-27 13:26:08,385] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:40:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 6937 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False +[05/27 13:40:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6937: 1 episodes +[05/27 13:40:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:40:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:40:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6937 +[05/27 13:40:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6937 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 13:40:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6937 +[05/27 13:40:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6937: 0/1 successful episodes +[05/27 13:40:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7012 (index 77/114) +[05/27 13:40:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7012 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:40:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objawindmillmodel_15999570dd354b0d85d17501a7bd7d8f_1_0_4 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaexplosivedevice_8a7070ce4ec14f0c821f620ae171fd20_1_0_4 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_ed06160ef39c4275ac61b389908ec05f_1_0_5 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_84c1fb3b7b2d41c5883350e73ceade92_1_0_5 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_7 in scene +Goal: place round ceramic plate with floral pattern next to golden brown artisanal loaf of bread +[2026-05-27 13:42:07,969] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:59:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 7012 episode 0 object objaceramicplate_3b15c410f87f42daa7e8cb5b5f74e3f1_1_0_2 completed with success=False +[05/27 13:59:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7012: 1 episodes +[05/27 13:59:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:59:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:59:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7012 +[05/27 13:59:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7012 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 13:59:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7012 +[05/27 13:59:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7012: 0/1 successful episodes +[05/27 13:59:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7066 (index 78/114) +[05/27 13:59:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7066 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:59:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 14:00:28 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_3 in scene +[05/27 14:00:28 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_3 in scene +Goal: place shallow metal pot next to white ceramic bowl +[2026-05-27 14:01:32,532] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:02:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:15:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7066 episode 0 object pot_e212d04be87cc98b4a5251ccfd9e1819_1_0_2 completed with success=False +[05/27 14:15:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7066: 1 episodes +[05/27 14:15:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:15:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:15:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7066 +[05/27 14:15:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7066 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 14:15:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7066 +[05/27 14:15:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7066: 0/1 successful episodes +[05/27 14:15:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7163 (index 79/114) +[05/27 14:15:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 14:15:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 14:15:56 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_8fc797d63d574f8db310de3b657a41b5_1_0_5 in scene +[05/27 14:15:56 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene +Goal: place smooth elongated green cucumber next to brown goblet +[2026-05-27 14:16:59,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:17:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:27:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 7163 episode 0 object objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_6 completed with success=False +[05/27 14:28:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7163: 1 episodes +[05/27 14:28:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:28:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:28:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7163 +[05/27 14:28:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7163 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 14:28:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7163 +[05/27 14:28:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7163: 0/1 successful episodes +[05/27 14:28:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7272 (index 80/114) +[05/27 14:28:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7272 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 14:28:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place adhesive tape next to conical soap bottle with pump +[2026-05-27 14:29:12,130] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:29:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:41:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7272 episode 0 object objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8 completed with success=False +[05/27 14:42:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7272: 1 episodes +[05/27 14:42:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:42:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:42:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7272 +[05/27 14:42:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7272 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 14:42:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7272 +[05/27 14:42:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7272: 0/1 successful episodes +[05/27 14:42:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7338 (index 81/114) +[05/27 14:42:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7338 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 14:42:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objahand_aaa3268584ea48618d88b22cf67505f0_1_0_3 in scene +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objastatue_bacc951f013645dab41c56e54a0c5930_1_0_3 in scene +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objacarmodel_03c68480c9c34174826f836b6c95c27e_1_0_4 in scene +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objatoothpastebox_7aa9002b63e9405e81d9985790acde36_1_0_4 in scene +Goal: place small dark egyptian figure statuette next to crockery +[2026-05-27 14:43:53,184] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:01:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 7338 episode 0 object objastatuette_b8fac4517e6b49498fec5e800adc6fcb_1_0_3 completed with success=False +[05/27 15:01:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7338: 1 episodes +[05/27 15:01:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:01:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:01:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7338 +[05/27 15:01:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7338 in 2.37s (batch: 2.29s, save: 0.09s) +[05/27 15:01:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7338 +[05/27 15:01:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7338: 0/1 successful episodes +[05/27 15:01:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7375 (index 82/114) +[05/27 15:01:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:01:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 15:01:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place purple flower pot with plant next to blue soap bottle with orange pump +[2026-05-27 15:02:25,371] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:02:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:13:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7375 episode 0 object objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6 completed with success=False +[05/27 15:13:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7375: 1 episodes +[05/27 15:13:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:13:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:13:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7375 +[05/27 15:13:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7375 in 2.38s (batch: 2.27s, save: 0.10s) +[05/27 15:13:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7375 +[05/27 15:13:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7375: 0/1 successful episodes +[05/27 15:13:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7448 (index 83/114) +[05/27 15:13:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7448 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:13:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_3 in scene +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_3 in scene +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_a42f14e6d8b7476f8e036cec5e2bc122_1_0_9 in scene +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_9 in scene +Goal: place orange toy raygun next to detailed scale model commercial building +[2026-05-27 15:15:11,640] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:32:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7448 episode 0 object objatoyraygun_e2ae085aca5147b7bb963bc408dd774d_1_0_3 completed with success=False +[05/27 15:32:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7448: 1 episodes +[05/27 15:32:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:32:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:32:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7448 +[05/27 15:32:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7448 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 15:32:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7448 +[05/27 15:32:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7448: 0/1 successful episodes +[05/27 15:32:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7505 (index 84/114) +[05/27 15:32:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:32:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place smooth off-white dog bone toy next to stylized red flower with green leaves +[2026-05-27 15:33:52,605] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:34:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:42:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 7505 episode 0 object objadogtoy_619ebcad52474517b55ead09935e4a57_1_0_2 completed with success=False +[05/27 15:42:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7505: 1 episodes +[05/27 15:42:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:42:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:42:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7505 +[05/27 15:42:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7505 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 15:42:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7505 +[05/27 15:42:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7505: 0/1 successful episodes +[05/27 15:42:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7631 (index 85/114) +[05/27 15:42:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:42:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 15:42:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaskull_60ad026c0f424aa29edfa947e4921276_1_0_6 in scene +Goal: place black vintage camera with rainbow stripe next to gold pump bottle +[2026-05-27 15:44:01,994] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:44:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:57:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7631 episode 0 object objainstantcamera_e5b7a512a7834420b3dfc5bc15d3bdf6_1_0_8 completed with success=False +[05/27 15:57:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7631: 1 episodes +[05/27 15:57:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:57:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:57:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7631 +[05/27 15:57:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7631 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 15:57:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7631 +[05/27 15:57:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7631: 0/1 successful episodes +[05/27 15:57:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7748 (index 86/114) +[05/27 15:57:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:57:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 15:57:38 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_129920be953d458a941ea1f33599a5bf_1_0_5 in scene +[05/27 15:57:38 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_5 in scene +[05/27 15:57:38 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_7 in scene +Goal: place glossy colorful rubik's cube puzzle next to brown wooden bowl +[2026-05-27 15:58:43,344] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:12:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7748 episode 0 object objapuzzle_a04ff652820c465da4ba7a427fd34417_1_0_8 completed with success=False +[05/27 16:13:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7748: 1 episodes +[05/27 16:13:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:13:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:13:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7748 +[05/27 16:13:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7748 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 16:13:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7748 +[05/27 16:13:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7748: 0/1 successful episodes +[05/27 16:13:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7843 (index 87/114) +[05/27 16:13:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7843 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:13:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 16:13:18 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_6afe3635cad7781073478ce57191cfc3_2_0_7 in scene +[05/27 16:13:18 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_b7727b77b84280c50b68099ba174d84e_1_0_7 in scene +Goal: place blue four-sided die next to blue liquid bottle +[2026-05-27 16:14:22,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:14:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:29:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 7843 episode 0 object objadie_7df438532d2f4567a87fb61f0336ad57_1_0_2 completed with success=False +[05/27 16:29:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7843: 1 episodes +[05/27 16:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:29:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:29:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7843 +[05/27 16:29:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7843 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 16:29:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7843 +[05/27 16:29:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7843: 0/1 successful episodes +[05/27 16:29:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7929 (index 88/114) +[05/27 16:29:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7929 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:29:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 16:30:02 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_3_0_5 in scene +[05/27 16:30:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place green circuit board with labeled connectors next to yellow rectangular box with branding +[2026-05-27 16:31:06,049] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:46:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7929 episode 0 object objacircuitboard_514169482d3b42378dd5131d6e411b59_1_0_3 completed with success=False +[05/27 16:47:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7929: 1 episodes +[05/27 16:47:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:47:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:47:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7929 +[05/27 16:47:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7929 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 16:47:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7929 +[05/27 16:47:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7929: 0/1 successful episodes +[05/27 16:47:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8008 (index 89/114) +[05/27 16:47:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8008 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:47:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 16:47:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaskullmodel_8c534dd087ba4d739243fba8b411e7a6_1_0_4 in scene +[05/27 16:47:15 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene +Goal: place large stainless steel cooking pot next to blue ceramic plate +[2026-05-27 16:48:20,230] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:48:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:57:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 8008 episode 0 object pot_953c9fc3b15d21564e56b7875cf8af20_1_0_2 completed with success=False +[05/27 16:57:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8008: 1 episodes +[05/27 16:57:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:57:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:57:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8008 +[05/27 16:57:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8008 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 16:57:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8008 +[05/27 16:57:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8008: 0/1 successful episodes +[05/27 16:57:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8063 (index 90/114) +[05/27 16:57:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 8063 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:57:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place blue dna helix next to bulbous shiny gold vase +[2026-05-27 16:58:44,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:59:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:11:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 8063 episode 0 object objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_5 completed with success=False +[05/27 17:11:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place blue and white modern electric iron next to rectangular plaque with astronaut design +[2026-05-27 17:12:58,399] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:25:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 8063 episode 1 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2 completed with success=False +[05/27 17:25:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8063: 2 episodes +[05/27 17:25:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:25:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:25:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:25:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:25:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8063 +[05/27 17:25:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8063 in 4.83s (batch: 4.66s, save: 0.17s) +[05/27 17:25:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8063 +[05/27 17:25:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8063: 0/2 successful episodes +[05/27 17:25:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8111 (index 91/114) +[05/27 17:25:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8111 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 17:25:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 17:26:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place medium red tomato with small stem next to fresh green lettuce head with stem +[2026-05-27 17:27:10,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:38:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 8111 episode 0 object tomato_5eae6c3ba60250aba913d63c8804bcf4_1_0_6 completed with success=False +[05/27 17:38:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8111: 1 episodes +[05/27 17:38:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:39:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:39:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8111 +[05/27 17:39:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8111 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 17:39:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8111 +[05/27 17:39:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8111: 0/1 successful episodes +[05/27 17:39:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8216 (index 92/114) +[05/27 17:39:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 17:39:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 17:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object objabakingingredientpackage_4cbd81f4246640bb8ee09370e4fcd7ed_1_0_2 in scene +[05/27 17:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object cup_b31afea732a344b3a47a266ce9bb531f_1_0_2 in scene +Goal: place roll of light brown adhesive tape next to miniature pink torii gate with gray top +[2026-05-27 17:40:19,908] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:40:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:59:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 8216 episode 0 object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_2 completed with success=False +[05/27 17:59:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8216: 1 episodes +[05/27 17:59:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:00:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:00:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8216 +[05/27 18:00:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8216 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 18:00:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8216 +[05/27 18:00:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8216: 0/1 successful episodes +[05/27 18:00:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8254 (index 93/114) +[05/27 18:00:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8254 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:00:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place dark metal frying pan with handle next to gray spray bottle +[2026-05-27 18:01:12,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:01:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:08:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 8254 episode 0 object cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2 completed with success=False +[05/27 18:08:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8254: 1 episodes +[05/27 18:08:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:08:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:08:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8254 +[05/27 18:08:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8254 in 2.43s (batch: 2.33s, save: 0.10s) +[05/27 18:08:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8254 +[05/27 18:08:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8254: 0/1 successful episodes +[05/27 18:08:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8347 (index 94/114) +[05/27 18:08:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:08:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 18:08:31 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_7a75c224806a4d04a7a9ebba517ad100_1_0_6 in scene +[05/27 18:08:31 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene +Goal: place red star goblet next to long slender brown wooden piece +[2026-05-27 18:09:33,257] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:10:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:20:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 8347 episode 0 object objadecorativegoblet_20d62fed128845d5942720920dd1e441_1_0_4 completed with success=False +[05/27 18:20:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8347: 1 episodes +[05/27 18:20:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:20:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:20:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8347 +[05/27 18:20:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8347 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 18:20:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8347 +[05/27 18:20:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8347: 0/1 successful episodes +[05/27 18:20:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8407 (index 95/114) +[05/27 18:20:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8407 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:20:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place munition next to black cat with purple ears and tail +[2026-05-27 18:21:35,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:22:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 8407 episode 0 object objabulletcartridge_1b46a5e8c3aa4ce9ac49c68efdb21b9c_1_0_7 completed with success=False +[05/27 18:28:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8407: 1 episodes +[05/27 18:28:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:28:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8407 +[05/27 18:28:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8407 in 2.72s (batch: 2.64s, save: 0.09s) +[05/27 18:28:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8407 +[05/27 18:28:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8407: 0/1 successful episodes +[05/27 18:28:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8483 (index 96/114) +[05/27 18:28:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:28:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 18:29:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_5 in scene +[05/27 18:29:08 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene +Goal: place beige windmill with blue roof next to olive green clamp with grip +[2026-05-27 18:30:11,131] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 8483 episode 0 object objadecorativewindmill_558349ea1db149029e67490134e33c21_1_0_4 completed with success=False +[05/27 18:48:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8483: 1 episodes +[05/27 18:48:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:48:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8483 +[05/27 18:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8483 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 18:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8483 +[05/27 18:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8483: 0/1 successful episodes +[05/27 18:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8598 (index 97/114) +[05/27 18:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8598 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:48:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place vintage red hand drill with gear next to slim dark cellphone with buttons +[2026-05-27 18:49:33,882] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:50:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:04:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 8598 episode 0 object objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_3 completed with success=False +[05/27 19:04:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8598: 1 episodes +[05/27 19:04:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:04:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:04:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8598 +[05/27 19:04:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8598 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 19:04:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8598 +[05/27 19:04:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8598: 0/1 successful episodes +[05/27 19:04:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8693 (index 98/114) +[05/27 19:04:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8693 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:04:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place worn notebook with stickers next to moka pot +[2026-05-27 19:06:20,262] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:18:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 8693 episode 0 object objanotebook_21d8c15bddc8434e89d7d8d7e67092c9_1_0_6 completed with success=False +[05/27 19:18:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8693: 1 episodes +[05/27 19:18:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:18:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:18:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8693 +[05/27 19:18:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8693 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 19:18:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8693 +[05/27 19:18:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8693: 0/1 successful episodes +[05/27 19:18:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8774 (index 99/114) +[05/27 19:18:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:18:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place food packet next to brown bread +[2026-05-27 19:19:21,656] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:27:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 8774 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False +[05/27 19:27:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8774: 1 episodes +[05/27 19:27:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:27:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:27:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8774 +[05/27 19:27:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8774 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 19:27:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8774 +[05/27 19:27:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8774: 0/1 successful episodes +[05/27 19:27:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8866 (index 100/114) +[05/27 19:27:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8866 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:27:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 19:28:02 Worker 0 WARNING object_manager.py:1238] Could not find object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_7 in scene +[05/27 19:28:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_7 in scene +Goal: place hiking shoe next to miniature tower +[2026-05-27 19:29:06,983] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:29:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:42:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 8866 episode 0 object objahikingshoe_36cf424a356146249c8043410083858f_1_0_5 completed with success=False +[05/27 19:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8866: 1 episodes +[05/27 19:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:42:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:42:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8866 +[05/27 19:42:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8866 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 19:42:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8866 +[05/27 19:42:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8866: 0/1 successful episodes +[05/27 19:42:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8925 (index 101/114) +[05/27 19:42:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:42:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 19:43:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 19:43:04 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_e58a7a0c37cb0ef9c8155d56cc319ccf_1_0_6 in scene +Goal: place metallic bold three-dimensional nameplate next to alarmclock +[2026-05-27 19:44:09,419] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:44:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:55:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 8925 episode 0 object objanameplate_47e5a18ca5c74911af360bf4de7aa9f2_1_0_4 completed with success=False +[05/27 19:55:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8925: 1 episodes +[05/27 19:55:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:55:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:55:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8925 +[05/27 19:55:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8925 in 2.81s (batch: 2.64s, save: 0.17s) +[05/27 19:55:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8925 +[05/27 19:55:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8925: 0/1 successful episodes +[05/27 19:55:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8996 (index 102/114) +[05/27 19:55:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8996 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:55:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place shiny gold candy wrapper with twists next to transparent conical cup with base +[2026-05-27 19:57:36,187] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:58:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:59:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 8996 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_6 completed with success=False +[05/27 19:59:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8996: 1 episodes +[05/27 19:59:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:59:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:59:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8996 +[05/27 19:59:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8996 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 19:59:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8996 +[05/27 19:59:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8996: 0/1 successful episodes +[05/27 19:59:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9058 (index 103/114) +[05/27 19:59:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9058 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:59:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place elongated red pepper with stem next to smooth glossy red tomato +[2026-05-27 20:01:21,011] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:01:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:15:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 9058 episode 0 object objavegetable_efb5f76948714689a43d7e41f712555a_1_0_2 completed with success=False +[05/27 20:15:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9058: 1 episodes +[05/27 20:15:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:15:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:15:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9058 +[05/27 20:15:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9058 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 20:15:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9058 +[05/27 20:15:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9058: 0/1 successful episodes +[05/27 20:15:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9140 (index 104/114) +[05/27 20:15:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 20:15:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 20:16:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_2 in scene +Goal: place gold black toy robot next to book +[2026-05-27 20:17:30,381] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:18:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:26:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 9140 episode 0 object objatoyrobot_7edbf0ed6932465c86bdf37d2a53ffeb_1_0_7 completed with success=False +[05/27 20:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9140: 1 episodes +[05/27 20:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:27:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:27:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9140 +[05/27 20:27:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9140 in 2.41s (batch: 2.31s, save: 0.09s) +[05/27 20:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9140 +[05/27 20:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9140: 0/1 successful episodes +[05/27 20:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9190 (index 105/114) +[05/27 20:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 20:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 20:27:24 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene +[05/27 20:27:24 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene +Goal: place locking pliers next to green glossy cup with spherical base +[2026-05-27 20:28:25,322] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:28:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:43:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9190 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False +[05/27 20:43:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9190: 1 episodes +[05/27 20:43:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:43:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:43:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9190 +[05/27 20:43:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9190 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 20:43:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9190 +[05/27 20:43:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9190: 0/1 successful episodes +[05/27 20:43:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9296 (index 106/114) +[05/27 20:43:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9296 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 20:43:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place yellow energy cell with text next to black cylinder +[2026-05-27 20:45:02,924] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:00:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9296 episode 0 object objabattery_232d825f11f5428382e14dacefa02f0c_2_0_4 completed with success=False +[05/27 21:00:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9296: 1 episodes +[05/27 21:00:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:00:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:00:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9296 +[05/27 21:00:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9296 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 21:00:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9296 +[05/27 21:00:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9296: 0/1 successful episodes +[05/27 21:00:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9398 (index 107/114) +[05/27 21:00:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:00:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 21:00:35 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_7 in scene +Goal: place sleek black spinning top next to gold metallic phone +[2026-05-27 21:01:38,401] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:02:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:13:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 9398 episode 0 object objaspinningtop_15be96b0b22d4f69b3569445bd372c48_1_0_4 completed with success=False +[05/27 21:13:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9398: 1 episodes +[05/27 21:13:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:13:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:13:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9398 +[05/27 21:13:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9398 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 21:13:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9398 +[05/27 21:13:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9398: 0/1 successful episodes +[05/27 21:13:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9491 (index 108/114) +[05/27 21:13:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:13:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 21:13:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_5 in scene +[05/27 21:13:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_3_0_5 in scene +[05/27 21:13:45 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place rustic windmill next to blue square plate with hexagons +[2026-05-27 21:14:51,009] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:29:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 9491 episode 0 object objaminiaturewindmill_7e16ed658d92416e9faae0ad91059e92_1_0_4 completed with success=False +[05/27 21:29:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9491: 1 episodes +[05/27 21:29:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:29:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:29:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9491 +[05/27 21:29:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9491 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 21:29:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9491 +[05/27 21:29:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9491: 0/1 successful episodes +[05/27 21:29:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9534 (index 109/114) +[05/27 21:29:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9534 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:29:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 21:29:57 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 in scene +[05/27 21:29:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene +Goal: place metal multitool next to spray bottle +[2026-05-27 21:31:01,837] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:31:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:42:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 9534 episode 0 object objamultitool_d9de978241864228829edcf061a8ce64_1_0_8 completed with success=False +[05/27 21:42:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9534: 1 episodes +[05/27 21:42:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:42:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:42:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9534 +[05/27 21:42:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9534 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 21:42:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9534 +[05/27 21:42:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9534: 0/1 successful episodes +[05/27 21:42:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9605 (index 110/114) +[05/27 21:42:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9605 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:42:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place black magician's wand with white tips next to soap dispenser +[2026-05-27 21:43:49,489] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:44:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:49:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 9605 episode 0 object objamagicwand_95837e7f267649c4b344bd47c6d3238a_1_0_2 completed with success=False +[05/27 21:49:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9605: 1 episodes +[05/27 21:49:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:49:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:49:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9605 +[05/27 21:49:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9605 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 21:49:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9605 +[05/27 21:49:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9605: 0/1 successful episodes +[05/27 21:49:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9673 (index 111/114) +[05/27 21:49:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9673 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:49:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place gold patterned ocarina next to small ceramic church model with steeple +[2026-05-27 21:50:19,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:00:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 9673 episode 0 object objaocarina_a29e1d2cb6af40c49572e4085c9cdd23_1_0_7 completed with success=False +[05/27 22:00:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9673: 1 episodes +[05/27 22:00:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:00:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:00:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9673 +[05/27 22:00:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9673 in 2.64s (batch: 2.56s, save: 0.09s) +[05/27 22:00:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9673 +[05/27 22:00:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9673: 0/1 successful episodes +[05/27 22:00:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9767 (index 112/114) +[05/27 22:00:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 22:00:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place pointed silver blade garden trowel next to black magnifying glass with handle +[2026-05-27 22:01:27,789] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:02:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:07:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 9767 episode 0 object objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_2 completed with success=False +[05/27 22:08:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9767: 1 episodes +[05/27 22:08:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:08:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:08:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9767 +[05/27 22:08:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9767 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 22:08:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9767 +[05/27 22:08:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9767: 0/1 successful episodes +[05/27 22:08:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9928 (index 113/114) +[05/27 22:08:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 22:08:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/27 22:08:34 Worker 0 WARNING object_manager.py:1238] Could not find object objatoothpastetube_394713df518944d2aea8b43097b444f5_1_0_3 in scene +[05/27 22:08:34 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_3 in scene +Goal: place gray compact device with pink strap next to dark muscular statue standing dynamically +[2026-05-27 22:09:32,570] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:10:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:17:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 9928 episode 0 object objahandhelddevice_2d9af38e33bf46af992044599ff8adf9_1_0_2 completed with success=False +[05/27 22:17:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9928: 1 episodes +[05/27 22:17:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:17:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:17:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9928 +[05/27 22:17:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9928 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 22:17:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9928 +[05/27 22:17:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9928: 0/1 successful episodes +[05/27 22:17:42 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 22:17:43 INFO pipeline.py:1496] Completed 114 houses, skipped 0 houses +[05/27 22:17:43 INFO pipeline.py:1499] Success count: 3, Total count: 118 +[05/27 22:17:43 INFO pipeline.py:1500] Success rate: 2.54% +Combined 118 episodes from 114 files → /tmp/tmp5sk_4hm5.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv at-end: 2.54% | oracle: 2.54% of 118 episodes +[2026-05-27 22:17:56,231] INFO MolmoSpaces simulator eval finished: success=3/118 rate=0.0254 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval +[2026-05-27 22:17:56,232] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca6954fa44dfbc31972614e21cad39846bd5c7cb --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..526617dc5532d47b1a89cbe26c49b7ca9ef2c116 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv @@ -0,0 +1,113 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.822724,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.239542,0.0 +latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.751784,0.0 +latest,Fruit,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.903091,18.459919 +latest,Objaadhesivetape,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.162194,11.374243 +latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.942649,0.0 +latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.150332,0.0 +latest,Objaanglegrinder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.897499,0.0 +latest,Objaappliance,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.92214,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.41244,0.0 +latest,Objaartificialplant,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.195573,0.0 +latest,Objaathleticshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.811463,0.0 +latest,Objaawl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.883608,0.0 +latest,Objabattery,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.815498,0.0 +latest,Objabulletcartridge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.353455,0.0 +latest,Objacamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.340634,0.0 +latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.860653,0.0 +latest,Objacandywrapper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.516872,0.0 +latest,Objacapsule,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,27.090644,16.431368 +latest,Objaceramicplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.567945,0.0 +latest,Objacircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.658052,0.0 +latest,Objacoilspring,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.811946,22.071752 +latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.23356,0.0 +latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.80468,0.0 +latest,Objadecorativebust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.894351,0.0 +latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.831684,0.0 +latest,Objadecorativeemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.749984,0.0 +latest,Objadecorativegoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.65253,0.0 +latest,Objadecorativescroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.492354,0.0 +latest,Objadecorativetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.962216,0.0 +latest,Objadecorativewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.705115,0.0 +latest,Objadeskcalendar,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.439571,0.0 +latest,Objadie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.651218,0.0 +latest,Objadnamodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.085562,0.0 +latest,Objadogtoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.713593,0.0 +latest,Objadraftingcompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.99114,0.0 +latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.193457,0.0 +latest,Objaenvelope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.551982,0.0 +latest,Objaeyeglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.448689,0.0 +latest,Objaeyewearframe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.354923,0.0 +latest,Objaflowerpot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.921984,13.826309 +latest,Objafoil,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.050806,0.0 +latest,Objafoodpackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.434078,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.981351,0.0 +latest,Objagardenhoseconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.237508,0.0 +latest,Objagardentrowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.631767,0.0 +latest,Objagemstone,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,16.234604,5.571044 +latest,Objagingerroot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.475933,0.0 +latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.815243,0.0 +latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.667923,0.0 +latest,Objahanddrill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.675271,0.0 +latest,Objahandgrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.757178,0.0 +latest,Objahandhelddevice,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,35.950128,8.353675 +latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.499711,0.0 +latest,Objahikingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.461603,0.0 +latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.50179,0.0 +latest,Objainstantcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.471237,0.0 +latest,Objalockingpliers,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,49.279014,9.118941 +latest,Objamagicwand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.965022,0.0 +latest,Objamarblesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.609271,0.0 +latest,Objamarkerstand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.811274,0.0 +latest,Objametalplate,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,68.647564,39.093608 +latest,Objamicrophone,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,83.624849,0.0 +latest,Objaminiaturewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.5531,0.0 +latest,Objaminidvtape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.184465,0.0 +latest,Objamultitool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.762285,0.0 +latest,Objanameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.4484,0.0 +latest,Objaneedle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.964365,0.0 +latest,Objanetworkdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.586819,0.0 +latest,Objanightvisionscope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.647706,0.0 +latest,Objanotebook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.034395,0.0 +latest,Objaocarina,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.927012,0.0 +latest,Objapaddle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.380873,0.0 +latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.293721,0.0 +latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.841398,0.0 +latest,Objapestle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.986973,0.0 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+latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.015841,0.0 +latest,Objawand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.225516,0.0 +latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.043026,0.0 +latest,Pot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.077061,21.026252 +latest,Spray Bottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,83.986722,37.176374 +latest,OVERALL,3,118,2.54,0.92,7.19,3,2.54,0.92,7.19,40.479589,23.347604 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/summary.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..5f972c0e7d4f82f4836b2dd6ba9dedf69d6326c9 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/summary.json @@ -0,0 +1,202 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.025423728813559324, + "success_count": 3.0, + "total_episodes": 118.0, + "avg_episode_length": 440.3813559322034, + "oracle_done_rate": 0.025423728813559324, + "success_rate_pct": 2.54, + "oracle_rate_pct": 2.54 + }, + "stats": { + "total_episodes": 118, + "success_count": 3, + "failure_count": 115, + "success_rate": 0.025423728813559324, + "avg_episode_length": 440.3813559322034, + "min_episode_length": 44, + "max_episode_length": 449, + "num_houses": 114, + "house_success_rates": { + "house_1016": 0.0, + "house_1129": 0.0, + "house_1215": 0.0, + "house_1281": 0.0, + "house_1357": 0.0, + "house_1421": 0.0, + "house_1440": 0.0, + "house_1598": 0.0, + "house_1698": 0.0, + "house_1765": 0.0, + "house_1862": 0.0, + "house_1937": 0.0, + "house_2034": 0.0, + "house_2142": 0.0, + "house_2245": 0.0, + "house_2360": 0.0, + 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+ "oracle_ci_95_low_pct": 0.92, + "oracle_ci_95_high_pct": 7.19, + "jerk_joint_mean": 40.479589, + "jerk_joint_std": 23.347604 + }, + "preview_video": null, + "skip_compose_videos": true, + "skip_csv": false, + "composed_video_count": 0, + "composed_videos": {} +} \ No newline at end of file diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/run.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/run.log new file mode 100644 index 0000000000000000000000000000000000000000..1a11ea7693ba91287c38fc9c8b06ae3b61c8e169 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/run.log @@ -0,0 +1,3739 @@ +[2026-05-26 19:43:51,268] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,270] INFO Using MuJoCo EGL device id: 4 +[2026-05-26 19:43:51,270] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,300] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 (source=arg) +[2026-05-26 19:43:53,340] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:02,358] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,280] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,758] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,232] INFO JsonEvalRunner initialized: 114 houses, 118 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 114 houses with 2 episodes each (228 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [610, + 658, + 721, + 774, + 853, + 923, + 1016, + 1129, + 1215, + 1281, + 1357, + 1421, + 1440, + 1598, + 1698, + 1765, + 1862, + 1937, + 2034, + 2142, + 2245, + 2360, + 2465, + 2502, + 2638, + 2775, + 2853, + 2948, + 3052, + 3190, + 3247, + 3284, + 3373, + 3420, + 3515, + 3626, + 3721, + 3763, + 3908, + 4019, + 4030, + 4132, + 4200, + 4273, + 4320, + 4396, + 4480, + 4584, + 4662, + 4706, + 4774, + 4867, + 4939, + 5038, + 5131, + 5193, + 5319, + 5449, + 5539, + 5599, + 5654, + 5758, + 5880, + 5915, + 6030, + 6072, + 6102, + 6199, + 6252, + 6298, + 6382, + 6438, + 6538, + 6696, + 6758, + 6883, + 6937, + 7012, + 7066, + 7163, + 7272, + 7338, + 7375, + 7448, + 7505, + 7631, + 7748, + 7843, + 7929, + 8008, + 8063, + 8111, + 8216, + 8254, + 8347, + 8407, + 8483, + 8598, + 8693, + 8774, + 8866, + 8925, + 8996, + 9058, + 9140, + 9190, + 9296, + 9398, + 9491, + 9534, + 9605, + 9673, + 9767, + 9928], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,237] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 610 (index 0/114) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 19:48:36 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_6 in scene +[05/26 19:48:36 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_2_0_9 in scene +Goal: place round dish with handle and pattern next to brown bread +2026-05-26 19:48:36.860 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:37,804] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:39,653] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:40,200] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:40,403] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:40,407] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:05:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 610 episode 0 object objaservingdish_5d58816fa8534b568d8e96cd47a8f413_1_0_2 completed with success=False +[05/26 20:05:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_610: 1 episodes +[05/26 20:05:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:05:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:05:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_610 +[05/26 20:05:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_610 in 2.72s (batch: 2.63s, save: 0.09s) +[05/26 20:05:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_610 +[05/26 20:05:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 610: 0/1 successful episodes +[05/26 20:05:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 658 (index 1/114) +[05/26 20:05:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 658 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:05:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 20:05:35 Worker 0 WARNING object_manager.py:1238] Could not find object objacornermolding_90be9c61b979413b85ab8c572d29fb48_1_0_2 in scene +[05/26 20:05:35 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_2 in scene +Goal: place blue soldering iron next to smooth white ceramic serving bowl +[2026-05-26 20:06:37,369] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:07:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:18:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 658 episode 0 object objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_5 completed with success=False +[05/26 20:18:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_658: 1 episodes +[05/26 20:18:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:18:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:18:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_658 +[05/26 20:18:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_658 in 2.42s (batch: 2.33s, save: 0.09s) +[05/26 20:18:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_658 +[05/26 20:18:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 658: 0/1 successful episodes +[05/26 20:18:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 721 (index 2/114) +[05/26 20:18:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:18:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 20:19:14 Worker 0 WARNING object_manager.py:1238] Could not find object objaantlers_20b890af795b4e31b02f7aa6f8830a4c_1_0_2 in scene +[05/26 20:19:14 Worker 0 WARNING object_manager.py:1238] Could not find object cup_8375d1854544e7fff9c778ce52d47800_1_0_2 in scene +Goal: place vintage microphone with mesh next to wide flat greenish-gold vase +[2026-05-26 20:20:16,486] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:26:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 721 episode 0 object objamicrophone_3d7e9705612d4058982004abc58ffe5d_1_0_6 completed with success=True +[05/26 20:26:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_721: 1 episodes +[05/26 20:26:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 172 timesteps +[05/26 20:26:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:26:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_721 +[05/26 20:26:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_721 in 2.50s (batch: 2.45s, save: 0.05s) +[05/26 20:26:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_721 +[05/26 20:26:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 721: 1/1 successful episodes +[05/26 20:26:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 774 (index 3/114) +[05/26 20:26:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:26:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place stereo system next to brown leather football with laces +[2026-05-26 20:28:02,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:30:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 774 episode 0 object objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_2 completed with success=False +[05/26 20:30:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_774: 1 episodes +[05/26 20:30:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:30:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:30:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_774 +[05/26 20:30:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_774 in 2.84s (batch: 2.75s, save: 0.09s) +[05/26 20:30:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_774 +[05/26 20:30:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 774: 0/1 successful episodes +[05/26 20:30:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 853 (index 4/114) +[05/26 20:30:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:30:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/26 20:30:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place blue spray bottle with nozzle next to glossy red tomato with twisting stem +[2026-05-26 20:31:48,250] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:32:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:46:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 853 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8 completed with success=False +[05/26 20:46:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_853: 1 episodes +[05/26 20:46:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:46:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:46:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_853 +[05/26 20:46:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_853 in 2.41s (batch: 2.31s, save: 0.10s) +[05/26 20:46:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_853 +[05/26 20:46:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 853: 0/1 successful episodes +[05/26 20:46:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 923 (index 5/114) +[05/26 20:46:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:46:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place orange wand next to vintage metal lever on dark wooden base +[2026-05-26 20:47:52,519] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:48:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:59:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 923 episode 0 object objawand_ea36b5fb4fc94e37bde2db99384a1cc6_1_0_2 completed with success=False +[05/26 20:59:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_923: 1 episodes +[05/26 20:59:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:59:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:59:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_923 +[05/26 20:59:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_923 in 2.37s (batch: 2.28s, save: 0.09s) +[05/26 20:59:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_923 +[05/26 20:59:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 923: 0/1 successful episodes +[05/26 20:59:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1016 (index 6/114) +[05/26 20:59:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1016 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:59:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place gray stone arrowhead with sharp edges next to small shiny gold dog statue +[2026-05-26 21:00:23,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:10:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 1016 episode 0 object objaarrowhead_e4a837393e164540b04973adf53c10ed_1_0_7 completed with success=False +[05/26 21:10:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1016: 1 episodes +[05/26 21:10:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:10:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:10:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1016 +[05/26 21:10:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1016 in 2.78s (batch: 2.69s, save: 0.09s) +[05/26 21:10:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1016 +[05/26 21:10:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1016: 0/1 successful episodes +[05/26 21:10:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1129 (index 7/114) +[05/26 21:10:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1129 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:10:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place sleek glossy curved plastic frame next to black beanie with green gold pattern +[2026-05-26 21:12:38,257] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:30:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 1129 episode 0 object objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_6 completed with success=False +[05/26 21:30:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1129: 1 episodes +[05/26 21:30:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:30:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:30:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1129 +[05/26 21:30:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1129 in 2.84s (batch: 2.75s, save: 0.09s) +[05/26 21:30:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1129 +[05/26 21:30:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1129: 0/1 successful episodes +[05/26 21:30:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1215 (index 8/114) +[05/26 21:30:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1215 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:30:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place flat handle next to purple bottle +[2026-05-26 21:31:43,433] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:32:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:41:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 1215 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_6 completed with success=False +[05/26 21:41:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1215: 1 episodes +[05/26 21:41:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:41:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:41:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1215 +[05/26 21:41:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1215 in 2.38s (batch: 2.29s, save: 0.09s) +[05/26 21:41:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1215 +[05/26 21:41:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1215: 0/1 successful episodes +[05/26 21:41:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1281 (index 9/114) +[05/26 21:41:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:41:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place olive green hand smoke grenade next to laptop computer +[2026-05-26 21:42:35,298] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:43:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:55:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 1281 episode 0 object objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_7 completed with success=False +[05/26 21:55:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1281: 1 episodes +[05/26 21:55:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:55:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:55:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1281 +[05/26 21:55:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1281 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 21:55:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1281 +[05/26 21:55:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1281: 0/1 successful episodes +[05/26 21:55:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1357 (index 10/114) +[05/26 21:55:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:55:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/26 21:55:13 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_57e4a337b9ed97d4bd61cbfd9e2bdfde_1_0_2 in scene +Goal: place black virtual headset next to yellow device +[2026-05-26 21:56:14,652] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:02:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 1357 episode 0 object objavirtualrealityheadset_0d6c1d6aa3f747a5b35f8105ed585418_1_0_3 completed with success=False +[05/26 22:02:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1357: 1 episodes +[05/26 22:02:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:02:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:02:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1357 +[05/26 22:02:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1357 in 2.48s (batch: 2.39s, save: 0.09s) +[05/26 22:02:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1357 +[05/26 22:02:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1357: 0/1 successful episodes +[05/26 22:02:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1421 (index 11/114) +[05/26 22:02:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:02:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place purple flower pot with plant next to dark gray metal shackle with orange pin +[2026-05-26 22:03:34,796] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:04:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:12:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1421 episode 0 object objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6 completed with success=False +[05/26 22:12:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place dark gray metal shackle next to soap bottle +[2026-05-26 22:13:31,562] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:14:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:22:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 1421 episode 1 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False +[05/26 22:22:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1421: 2 episodes +[05/26 22:22:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:22:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:22:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:22:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:22:16 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421 +[05/26 22:22:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1421 in 5.42s (batch: 5.25s, save: 0.17s) +[05/26 22:22:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1421 +[05/26 22:22:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1421: 0/2 successful episodes +[05/26 22:22:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1440 (index 12/114) +[05/26 22:22:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1440 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:22:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place rustic stone tray next to medium dark metal cooking pot +[2026-05-26 22:23:36,893] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:24:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:42:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 1440 episode 0 object objastonetray_af335dd50e394ba0ab92dd4e4e86954d_1_0_2 completed with success=False +[05/26 22:42:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1440: 1 episodes +[05/26 22:42:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:42:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:42:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1440 +[05/26 22:42:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1440 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 22:42:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1440 +[05/26 22:42:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1440: 0/1 successful episodes +[05/26 22:42:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1598 (index 13/114) +[05/26 22:42:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1598 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:42:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 22:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objadigitalart_57f9e3d9c75d40c6b5cca76e6b94ccbc_2_0_4 in scene +[05/26 22:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene +[05/26 22:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objapettag_e7120b712b424f1d9607347cf5c4147b_1_0_8 in scene +Goal: place red rectangular box of pasta next to soap bottle +[2026-05-26 22:44:22,879] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:44:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:58:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 1598 episode 0 object objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_8 completed with success=False +[05/26 22:58:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1598: 1 episodes +[05/26 22:58:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:58:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:58:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1598 +[05/26 22:58:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1598 in 2.37s (batch: 2.28s, save: 0.09s) +[05/26 22:58:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1598 +[05/26 22:58:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1598: 0/1 successful episodes +[05/26 22:58:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1698 (index 14/114) +[05/26 22:58:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:58:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place compact black night vision scope next to smart display device +[2026-05-26 23:00:26,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:01:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:17:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 1698 episode 0 object objanightvisionscope_060a8c828d7a48789fbade22b83a2f15_1_0_6 completed with success=False +[05/26 23:17:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1698: 1 episodes +[05/26 23:17:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:17:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:17:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1698 +[05/26 23:17:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1698 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 23:17:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1698 +[05/26 23:17:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1698: 0/1 successful episodes +[05/26 23:17:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1765 (index 15/114) +[05/26 23:17:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:17:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/26 23:17:36 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_6 in scene +[05/26 23:17:36 Worker 0 WARNING object_manager.py:1238] Could not find object plate_c15e3f7680e3167e2f8d34f3a4bbadaf_1_0_6 in scene +Goal: place wooden pestle with jagged top next to blue rounded pot with handles and straps +[2026-05-26 23:18:39,679] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:19:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:28:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 1765 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_6 completed with success=False +[05/26 23:28:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1765: 1 episodes +[05/26 23:28:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:29:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:29:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1765 +[05/26 23:29:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1765 in 2.72s (batch: 2.63s, save: 0.09s) +[05/26 23:29:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1765 +[05/26 23:29:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1765: 0/1 successful episodes +[05/26 23:29:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1862 (index 16/114) +[05/26 23:29:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1862 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:29:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 23:29:06 Worker 0 WARNING object_manager.py:1238] Could not find object objatube_0f7ec1dcb01d4943972e3a9168f52e8e_1_0_5 in scene +[05/26 23:29:06 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_8f07a87f281343009ff480f8d7e5db83_1_0_9 in scene +[05/26 23:29:06 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_6a037139d50e4150bd30c7e900126779_1_0_9 in scene +Goal: place blue bifold wallet with brown interior next to soap dispenser +[2026-05-26 23:30:08,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:30:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:41:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 1862 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_8 completed with success=False +[05/26 23:41:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1862: 1 episodes +[05/26 23:41:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:41:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:41:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1862 +[05/26 23:41:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1862 in 2.66s (batch: 2.57s, save: 0.09s) +[05/26 23:41:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1862 +[05/26 23:41:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1862: 0/1 successful episodes +[05/26 23:41:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1937 (index 17/114) +[05/26 23:41:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:41:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place tissue paper next to purple spray bottle with white nozzle +[2026-05-26 23:42:49,266] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:43:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:54:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1937 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 completed with success=False +[05/26 23:54:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1937: 1 episodes +[05/26 23:54:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:54:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:54:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1937 +[05/26 23:54:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1937 in 2.67s (batch: 2.59s, save: 0.09s) +[05/26 23:54:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1937 +[05/26 23:54:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1937: 0/1 successful episodes +[05/26 23:54:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2034 (index 18/114) +[05/26 23:54:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2034 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:54:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place vibrant magenta coil spring on base next to cassetteplayer +[2026-05-26 23:56:02,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:09:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2034 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_3 completed with success=False +[05/27 00:09:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2034: 1 episodes +[05/27 00:09:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:09:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:09:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2034 +[05/27 00:09:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2034 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 00:09:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2034 +[05/27 00:09:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2034: 0/1 successful episodes +[05/27 00:09:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2142 (index 19/114) +[05/27 00:09:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:09:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 00:10:25 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place pointed brass bullet with tip next to gold vintage camera +[2026-05-27 00:11:27,256] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:12:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:27:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 2142 episode 0 object objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_8 completed with success=False +[05/27 00:27:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2142: 1 episodes +[05/27 00:27:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:27:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:27:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2142 +[05/27 00:27:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2142 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 00:27:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2142 +[05/27 00:27:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2142: 0/1 successful episodes +[05/27 00:27:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2245 (index 20/114) +[05/27 00:27:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2245 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:27:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 00:27:46 Worker 0 WARNING object_manager.py:1238] Could not find object apple_8a1c7fb834f6201db020cae968b49bbc_1_0_8 in scene +Goal: place garden hose connector next to thick yellow hardcover book +[2026-05-27 00:28:49,363] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:29:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:42:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 2245 episode 0 object objagardenhoseconnector_bf765bb3a0824d8fb21121f299b44df4_1_0_8 completed with success=False +[05/27 00:43:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2245: 1 episodes +[05/27 00:43:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:43:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:43:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2245 +[05/27 00:43:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2245 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 00:43:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2245 +[05/27 00:43:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2245: 0/1 successful episodes +[05/27 00:43:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2360 (index 21/114) +[05/27 00:43:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2360 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:43:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place paint roller with textured off-white head next to white ceramic vase with subtle ridges +[2026-05-27 00:44:45,538] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:45:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:55:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 2360 episode 0 object objapaintroller_002a355c77774228b15db50d77d0e002_1_0_6 completed with success=False +[05/27 00:55:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2360: 1 episodes +[05/27 00:55:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:55:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:55:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2360 +[05/27 00:55:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2360 in 2.41s (batch: 2.31s, save: 0.09s) +[05/27 00:55:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2360 +[05/27 00:55:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2360: 0/1 successful episodes +[05/27 00:55:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2465 (index 22/114) +[05/27 00:55:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:55:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/27 00:55:54 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_1e4728cf567cf815d1bc4e37bc564bdc_1_0_2 in scene +Goal: place medium smooth red apple next to crumpled white plastic bag with stains +[2026-05-27 00:56:56,947] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:57:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:04:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 2465 episode 0 object apple_8a1c7fb834f6201db020cae968b49bbc_1_0_2 completed with success=False +[05/27 01:04:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2465: 1 episodes +[05/27 01:04:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:04:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:04:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2465 +[05/27 01:04:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2465 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 01:04:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2465 +[05/27 01:04:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2465: 0/1 successful episodes +[05/27 01:04:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2502 (index 23/114) +[05/27 01:04:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:04:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 01:04:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaplushtoy_f08a0ca0ca13418fa5dec0b11df9cb82_1_0_3 in scene +[05/27 01:04:53 Worker 0 WARNING object_manager.py:1238] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_3 in scene +Goal: place old-fashioned metal pencil sharpener next to round brown bread loaf domed +[2026-05-27 01:05:57,055] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:20:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 2502 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_2 completed with success=False +[05/27 01:20:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2502: 1 episodes +[05/27 01:20:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:20:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:20:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2502 +[05/27 01:20:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2502 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 01:20:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2502 +[05/27 01:20:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2502: 0/1 successful episodes +[05/27 01:20:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2638 (index 24/114) +[05/27 01:20:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2638 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:20:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place purple plastic spray bottle with trigger next to blue toaster with two slots +[2026-05-27 01:22:13,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:25:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 2638 episode 0 object atomizer_834d386e080077accc22e6eae5471528_1_0_6 completed with success=False +[05/27 01:26:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2638: 1 episodes +[05/27 01:26:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:26:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:26:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2638 +[05/27 01:26:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2638 in 2.45s (batch: 2.35s, save: 0.09s) +[05/27 01:26:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2638 +[05/27 01:26:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2638: 0/1 successful episodes +[05/27 01:26:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2775 (index 25/114) +[05/27 01:26:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:26:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place oblong brown potato with blemishes next to antique cannon model +[2026-05-27 01:27:09,753] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:34:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2775 episode 0 object objapotato_77c957c8e7054cf4909472bfdaa04328_1_0_2 completed with success=False +[05/27 01:34:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2775: 1 episodes +[05/27 01:34:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:34:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:34:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2775 +[05/27 01:34:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2775 in 2.71s (batch: 2.61s, save: 0.10s) +[05/27 01:34:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2775 +[05/27 01:34:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2775: 0/1 successful episodes +[05/27 01:34:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2853 (index 26/114) +[05/27 01:34:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:34:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place wooden paddle with black decorative rectangles next to laptop computer +[2026-05-27 01:37:01,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:54:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2853 episode 0 object objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_8 completed with success=False +[05/27 01:54:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2853: 1 episodes +[05/27 01:54:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:54:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:54:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2853 +[05/27 01:54:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2853 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 01:54:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2853 +[05/27 01:54:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2853: 0/1 successful episodes +[05/27 01:54:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2948 (index 27/114) +[05/27 01:54:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2948 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:54:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place deer bust with red collar next to yellow handled kitchen knife +[2026-05-27 01:58:10,000] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:58:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:06:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 2948 episode 0 object objadecorativebust_5a6e5b23243d41a2a5cec0e259c56ba3_1_0_6 completed with success=False +[05/27 02:06:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2948: 1 episodes +[05/27 02:06:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:06:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:06:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2948 +[05/27 02:06:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2948 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 02:06:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2948 +[05/27 02:06:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2948: 0/1 successful episodes +[05/27 02:06:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3052 (index 28/114) +[05/27 02:06:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3052 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:06:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 02:06:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene +Goal: place black spray paint can next to olive scalloped ceramic plate +[2026-05-27 02:07:59,321] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:08:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:19:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 3052 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_7 completed with success=False +[05/27 02:19:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3052: 1 episodes +[05/27 02:19:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:19:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:19:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3052 +[05/27 02:19:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3052 in 2.44s (batch: 2.34s, save: 0.09s) +[05/27 02:19:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3052 +[05/27 02:19:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3052: 0/1 successful episodes +[05/27 02:19:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3190 (index 29/114) +[05/27 02:19:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:19:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place futuristic device next to blue soap bottle +[2026-05-27 02:20:44,991] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:21:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:32:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 3190 episode 0 object objaappliance_a295613096c54e6e9c898469e8afc236_1_0_6 completed with success=False +[05/27 02:32:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3190: 1 episodes +[05/27 02:32:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:32:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:32:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3190 +[05/27 02:32:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3190 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 02:32:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3190 +[05/27 02:32:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3190: 0/1 successful episodes +[05/27 02:32:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3247 (index 30/114) +[05/27 02:32:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:32:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 02:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 02:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +Goal: place rectangular metal plate mount next to gray butterfly with geometric patterns +[2026-05-27 02:34:18,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:44:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 3247 episode 0 object objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2 completed with success=False +[05/27 02:44:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3247: 1 episodes +[05/27 02:44:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:44:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:44:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3247 +[05/27 02:44:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3247 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 02:44:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3247 +[05/27 02:44:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3247: 0/1 successful episodes +[05/27 02:44:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3284 (index 31/114) +[05/27 02:44:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3284 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:44:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/61 [00:00 does not support tracking retries. +Goal: place glossy deep red arrow sign next to bulbous shiny gold metallic vase +[2026-05-27 02:46:12,435] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:46:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:05:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 3284 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_2 completed with success=False +[05/27 03:05:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3284: 1 episodes +[05/27 03:05:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:05:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:05:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3284 +[05/27 03:05:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3284 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 03:05:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3284 +[05/27 03:05:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3284: 0/1 successful episodes +[05/27 03:05:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3373 (index 32/114) +[05/27 03:05:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3373 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:05:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place vintage desk calendar with handle next to dark gray laptop with keyboard +[2026-05-27 03:06:54,072] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:07:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:08:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3373 episode 0 object objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_2 completed with success=True +[05/27 03:08:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3373: 1 episodes +[05/27 03:08:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/27 03:08:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:08:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3373 +[05/27 03:08:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3373 in 2.45s (batch: 2.43s, save: 0.03s) +[05/27 03:08:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3373 +[05/27 03:08:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3373: 1/1 successful episodes +[05/27 03:08:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3420 (index 33/114) +[05/27 03:08:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:08:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 03:08:21 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene +Goal: place curled vintage ribbon with text next to small dark brown potato +[2026-05-27 03:09:25,770] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:09:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:23:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3420 episode 0 object objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_2 completed with success=False +[05/27 03:23:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3420: 1 episodes +[05/27 03:23:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:23:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:23:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3420 +[05/27 03:23:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3420 in 2.51s (batch: 2.41s, save: 0.10s) +[05/27 03:23:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3420 +[05/27 03:23:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3420: 0/1 successful episodes +[05/27 03:23:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3515 (index 34/114) +[05/27 03:23:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:23:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place transceiver next to weathered metallic electrical box with handle +[2026-05-27 03:24:47,191] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:25:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:32:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3515 episode 0 object objanetworkdevice_224e056b02a040039f7c4a9b141e25e5_1_0_2 completed with success=False +[05/27 03:32:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3515: 1 episodes +[05/27 03:32:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:32:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:32:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3515 +[05/27 03:32:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3515 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 03:33:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3515 +[05/27 03:33:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3515: 0/1 successful episodes +[05/27 03:33:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3626 (index 35/114) +[05/27 03:33:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3626 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:33:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place teal cordless grinder next to house plant +[2026-05-27 03:34:16,907] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:34:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:47:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 3626 episode 0 object objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_4 completed with success=False +[05/27 03:47:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3626: 1 episodes +[05/27 03:47:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:47:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:47:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3626 +[05/27 03:47:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3626 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 03:47:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3626 +[05/27 03:47:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3626: 0/1 successful episodes +[05/27 03:47:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3721 (index 36/114) +[05/27 03:47:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:47:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 03:47:42 Worker 0 WARNING object_manager.py:1238] Could not find object objagymladder_15cc0301b4ba494895eff8aa74c1fb7f_1_0_4 in scene +Goal: place striped teacup next to smooth red apple +[2026-05-27 03:48:45,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:08:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 3721 episode 0 object objateacup_8f63a888a2c3473eabef51c650c82b45_1_0_2 completed with success=False +[05/27 04:08:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3721: 1 episodes +[05/27 04:08:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:08:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:08:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3721 +[05/27 04:08:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3721 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 04:08:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3721 +[05/27 04:08:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3721: 0/1 successful episodes +[05/27 04:08:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3763 (index 37/114) +[05/27 04:08:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:08:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place photographic camera next to bulbous shiny gold metallic vase +[2026-05-27 04:09:49,858] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:10:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:21:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 3763 episode 0 object objacamera_6932f08350dc47179ec8dd1ac0d18ce8_1_0_6 completed with success=False +[05/27 04:21:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3763: 1 episodes +[05/27 04:21:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:21:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3763 +[05/27 04:21:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3763 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 04:21:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3763 +[05/27 04:21:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3763: 0/1 successful episodes +[05/27 04:21:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3908 (index 38/114) +[05/27 04:21:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3908 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:21:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[05/27 04:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_e3b5326e94c441f59d9833835a01a6f7_1_0_2 in scene +[05/27 04:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_2 in scene +Goal: place green and white athletic shoe next to guitar effects pedal +[2026-05-27 04:22:32,671] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:23:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:28:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 3908 episode 0 object objaathleticshoe_f13de6ea58204192ab4250342bd69aac_1_0_2 completed with success=False +[05/27 04:28:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3908: 1 episodes +[05/27 04:28:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:28:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:28:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3908 +[05/27 04:28:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3908 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 04:28:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3908 +[05/27 04:28:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3908: 0/1 successful episodes +[05/27 04:28:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4019 (index 39/114) +[05/27 04:28:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:28:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place dark gray cylindrical metal coil spring next to instrumentation +[2026-05-27 04:29:21,516] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:41:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4019 episode 0 object objaspring_3071830f2d3e4b57a59976719298c808_1_0_7 completed with success=False +[05/27 04:41:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place instrumentation next to dark gray cylindrical metal coil spring +[2026-05-27 04:42:15,538] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:54:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4019 episode 1 object objahandhelddevice_fd9fdf81ab624a66897bbd8ac299e26f_1_0_7 completed with success=False +[05/27 04:54:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4019: 2 episodes +[05/27 04:54:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:54:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:54:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:54:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:54:09 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4019 +[05/27 04:54:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4019 in 5.51s (batch: 5.35s, save: 0.17s) +[05/27 04:54:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4019 +[05/27 04:54:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4019: 0/2 successful episodes +[05/27 04:54:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4030 (index 40/114) +[05/27 04:54:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:54:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place rectangular metallic effects pedal next to gray dispenser with metallic tip +[2026-05-27 04:55:18,570] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:11:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4030 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 completed with success=False +[05/27 05:11:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4030: 1 episodes +[05/27 05:11:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:11:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:11:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4030 +[05/27 05:11:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4030 in 2.70s (batch: 2.62s, save: 0.09s) +[05/27 05:11:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4030 +[05/27 05:11:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4030: 0/1 successful episodes +[05/27 05:11:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4132 (index 41/114) +[05/27 05:11:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:11:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place black capsule next to voxel gray medieval cannon +[2026-05-27 05:12:20,140] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:12:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:24:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 4132 episode 0 object objacapsule_870611a797c1472197872d137247a094_1_0_8 completed with success=False +[05/27 05:24:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4132: 1 episodes +[05/27 05:24:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:24:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:24:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4132 +[05/27 05:24:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4132 in 2.35s (batch: 2.26s, save: 0.09s) +[05/27 05:24:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4132 +[05/27 05:24:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4132: 0/1 successful episodes +[05/27 05:24:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4200 (index 42/114) +[05/27 05:24:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:24:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place rectangular metal plate mount next to curved off-white jawbone with teeth +[2026-05-27 05:25:22,567] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:25:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:31:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4200 episode 0 object objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2 completed with success=False +[05/27 05:31:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4200: 1 episodes +[05/27 05:31:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:31:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:31:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4200 +[05/27 05:31:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4200 in 2.76s (batch: 2.66s, save: 0.09s) +[05/27 05:31:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4200 +[05/27 05:31:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4200: 0/1 successful episodes +[05/27 05:31:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4273 (index 43/114) +[05/27 05:31:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:31:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place metal hinge next to tall copper cup with ridges +[2026-05-27 05:32:29,867] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:33:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:38:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4273 episode 0 object objahinge_4587c40e36704e7a96ffebad95028160_1_0_2 completed with success=False +[05/27 05:38:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4273: 1 episodes +[05/27 05:38:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:38:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:38:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4273 +[05/27 05:38:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4273 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 05:38:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4273 +[05/27 05:38:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4273: 0/1 successful episodes +[05/27 05:38:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4320 (index 44/114) +[05/27 05:38:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:38:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +Goal: place bold multicolored eyeglasses with rectangular openings next to open brown cardboard storage box +[2026-05-27 05:39:29,983] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:40:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:45:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4320 episode 0 object objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_2 completed with success=False +[05/27 05:45:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4320: 1 episodes +[05/27 05:45:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:45:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:45:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4320 +[05/27 05:45:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4320 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 05:45:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4320 +[05/27 05:45:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4320: 0/1 successful episodes +[05/27 05:45:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4396 (index 45/114) +[05/27 05:45:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:45:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 05:45:59 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_4 in scene +[05/27 05:45:59 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_4 in scene +Goal: place black metal locking pliers next to smooth medium red apple +[2026-05-27 05:47:02,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:47:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:59:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4396 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False +[05/27 05:59:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4396: 1 episodes +[05/27 05:59:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:59:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:59:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4396 +[05/27 05:59:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4396 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 06:00:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4396 +[05/27 06:00:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4396: 0/1 successful episodes +[05/27 06:00:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4480 (index 46/114) +[05/27 06:00:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:00:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place sharpeningsteel next to gray pigeon with spread wings +[2026-05-27 06:01:19,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:17:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4480 episode 0 object objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_7 completed with success=False +[05/27 06:17:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4480: 1 episodes +[05/27 06:17:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:17:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:17:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4480 +[05/27 06:17:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4480 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 06:17:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4480 +[05/27 06:17:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4480: 0/1 successful episodes +[05/27 06:17:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4584 (index 47/114) +[05/27 06:17:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4584 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:17:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 06:17:13 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_5 in scene +Goal: place dark metal container with aged label next to decorative yellow striped fish +[2026-05-27 06:18:17,565] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:18:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:30:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 4584 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6 completed with success=False +[05/27 06:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4584: 1 episodes +[05/27 06:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:30:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:30:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4584 +[05/27 06:30:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4584 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 06:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4584 +[05/27 06:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4584: 0/1 successful episodes +[05/27 06:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4662 (index 48/114) +[05/27 06:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:30:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place pink scepter with wings and gold next to shiny smooth red apple +[2026-05-27 06:31:28,791] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:32:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:48:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4662 episode 0 object objascepter_4efafd930f154d6a99ec9818d0f3a66a_1_0_2 completed with success=False +[05/27 06:48:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4662: 1 episodes +[05/27 06:48:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:48:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:48:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4662 +[05/27 06:48:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4662 in 2.80s (batch: 2.72s, save: 0.09s) +[05/27 06:48:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4662 +[05/27 06:48:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4662: 0/1 successful episodes +[05/27 06:48:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4706 (index 49/114) +[05/27 06:48:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4706 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:48:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_4 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_7 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene +Goal: place triangular white sandwich next to rectangular transparent soap bottle +[2026-05-27 06:49:41,379] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:50:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:00:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4706 episode 0 object objasandwich_8e8b342613f0477182ec8586876291cf_1_0_8 completed with success=False +[05/27 07:00:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4706: 1 episodes +[05/27 07:00:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:00:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:00:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4706 +[05/27 07:00:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4706 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 07:00:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4706 +[05/27 07:00:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4706: 0/1 successful episodes +[05/27 07:00:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4774 (index 50/114) +[05/27 07:00:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:00:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 07:01:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/27 07:01:00 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene +Goal: place orange envelope with currency seal next to pear-shaped beige ceramic hanging weight +[2026-05-27 07:02:03,810] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:02:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:12:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4774 episode 0 object objaenvelope_321bc258ef67468cbc2377bb48782f4a_1_0_6 completed with success=False +[05/27 07:12:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4774: 1 episodes +[05/27 07:12:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:12:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:12:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4774 +[05/27 07:12:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4774 in 2.72s (batch: 2.61s, save: 0.11s) +[05/27 07:12:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4774 +[05/27 07:12:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4774: 0/1 successful episodes +[05/27 07:12:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4867 (index 51/114) +[05/27 07:12:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:12:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 07:12:57 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/27 07:12:57 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place pink card with bow and flowers next to large winged fierce dragon model +[2026-05-27 07:14:00,918] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:14:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:29:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4867 episode 0 object objadecorativecard_55b595711d0e4b0f894d1ce1f6b1f050_1_0_2 completed with success=False +[05/27 07:29:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4867: 1 episodes +[05/27 07:29:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:30:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:30:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4867 +[05/27 07:30:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4867 in 2.46s (batch: 2.36s, save: 0.10s) +[05/27 07:30:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4867 +[05/27 07:30:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4867: 0/1 successful episodes +[05/27 07:30:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4939 (index 52/114) +[05/27 07:30:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:30:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_3374ae9c1eda0e38f47bce321c360e2d_1_0_4 in scene +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place cellphone next to breadstuff +[2026-05-27 07:31:10,920] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:46:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4939 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8 completed with success=False +[05/27 07:46:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4939: 1 episodes +[05/27 07:46:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:46:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:46:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4939 +[05/27 07:46:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4939 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 07:46:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4939 +[05/27 07:46:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4939: 0/1 successful episodes +[05/27 07:46:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5038 (index 53/114) +[05/27 07:46:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5038 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:46:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place translucent blue capsule next to smooth yellow apple with stem +[2026-05-27 07:47:33,323] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:48:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:02:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5038 episode 0 object objacapsule_5ff3a5a3cef64439905910e86d37ec57_1_0_2 completed with success=False +[05/27 08:02:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5038: 1 episodes +[05/27 08:02:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:02:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:02:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5038 +[05/27 08:02:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5038 in 2.93s (batch: 2.84s, save: 0.09s) +[05/27 08:02:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5038 +[05/27 08:02:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5038: 0/1 successful episodes +[05/27 08:02:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5131 (index 54/114) +[05/27 08:02:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5131 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:02:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 08:02:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturehouse_11ed0808fff74f6b8c5a3548743b0b03_1_0_5 in scene +[05/27 08:02:30 Worker 0 WARNING object_manager.py:1238] Could not find object objatorch_e88c4214d4bc4437ae6d249237591071_1_0_5 in scene +Goal: place gray triangular rugged stone tool next to ornate golden mirror with purple surface +[2026-05-27 08:03:32,826] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:04:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:20:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5131 episode 0 object objastonetool_98c2763ae351483da79dc4da9b3dc043_1_0_3 completed with success=False +[05/27 08:20:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5131: 1 episodes +[05/27 08:20:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:20:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:20:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5131 +[05/27 08:20:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5131 in 2.78s (batch: 2.68s, save: 0.09s) +[05/27 08:20:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5131 +[05/27 08:20:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5131: 0/1 successful episodes +[05/27 08:20:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5193 (index 55/114) +[05/27 08:20:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5193 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:20:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 08:20:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepiece_46e9d39e5a084c57b909c443e3b4fbf8_1_0_3 in scene +[05/27 08:20:50 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_4a51b9da92477e478b1a5867575dc6a1_1_0_3 in scene +Goal: place aerosol bomb next to blue spray bottle +[2026-05-27 08:21:52,821] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:22:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:38:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5193 episode 0 object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_2 completed with success=False +[05/27 08:38:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5193: 1 episodes +[05/27 08:38:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5193 +[05/27 08:38:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5193 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 08:38:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5193 +[05/27 08:38:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5193: 0/1 successful episodes +[05/27 08:38:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5319 (index 56/114) +[05/27 08:38:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:38:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_2_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objanaturalsponge_9a1d1f335f274039bf791192c39dcc7b_1_0_9 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_fdf53823d30f4fed9a5423d6b6cbfad1_1_0_9 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_9 in scene +Goal: place red and white can next to smooth rounded ceramic bowl with rim +[2026-05-27 08:40:05,641] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:42:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5319 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_2 completed with success=False +[05/27 08:42:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5319: 1 episodes +[05/27 08:42:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:42:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:42:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5319 +[05/27 08:42:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5319 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 08:42:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5319 +[05/27 08:42:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5319: 0/1 successful episodes +[05/27 08:42:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5449 (index 57/114) +[05/27 08:42:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5449 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:42:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place square blue plate next to vintage green military radio with handle +[2026-05-27 08:43:53,835] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:44:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:55:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5449 episode 0 object plate_838def382388bb29da57a8cddc03b072_1_0_6 completed with success=False +[05/27 08:55:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5449: 1 episodes +[05/27 08:55:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:55:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:55:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5449 +[05/27 08:55:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5449 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 08:55:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5449 +[05/27 08:55:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5449: 0/1 successful episodes +[05/27 08:55:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5539 (index 58/114) +[05/27 08:55:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5539 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:55:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place circular disc with colorful front design next to bulbous shiny gold vase +[2026-05-27 08:56:28,210] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:57:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:05:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5539 episode 0 object objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_2 completed with success=False +[05/27 09:05:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5539: 1 episodes +[05/27 09:05:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:05:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:05:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5539 +[05/27 09:05:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5539 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:05:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5539 +[05/27 09:05:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5539: 0/1 successful episodes +[05/27 09:05:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5599 (index 59/114) +[05/27 09:05:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:05:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaleafsculpture_291ecf00a4cd46c085e48aeff1ecd473_1_0_6 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebow_2c1c2d60cc4b42759400891f80414411_1_0_7 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_7 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_7 in scene +Goal: place blue emblem with metallic a and text next to cream candle in blue holder +[2026-05-27 09:06:54,594] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:19:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 5599 episode 0 object objadecorativeemblem_dc44a9d16aaa4b61addce2a8480f54f6_1_0_5 completed with success=False +[05/27 09:19:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5599: 1 episodes +[05/27 09:19:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:19:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:19:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5599 +[05/27 09:19:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5599 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:19:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5599 +[05/27 09:19:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5599: 0/1 successful episodes +[05/27 09:19:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5654 (index 60/114) +[05/27 09:19:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:19:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place dark gemstone next to smooth shallow light brown bowl +[2026-05-27 09:20:44,433] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:21:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:37:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 5654 episode 0 object objagemstone_175e4e432e6f4304af73c7fff56be773_1_0_2 completed with success=False +[05/27 09:37:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5654: 1 episodes +[05/27 09:37:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:37:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:37:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5654 +[05/27 09:37:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5654 in 2.41s (batch: 2.31s, save: 0.10s) +[05/27 09:37:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5654 +[05/27 09:37:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5654: 0/1 successful episodes +[05/27 09:37:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5758 (index 61/114) +[05/27 09:37:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5758 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:37:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place green gemstone next to matte dark gray bowl +[2026-05-27 09:39:26,482] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:39:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:51:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5758 episode 0 object objagemstone_3a9d89ec0d6642ee8a8fc42a1361c701_1_0_9 completed with success=False +[05/27 09:51:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5758: 1 episodes +[05/27 09:51:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:51:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:51:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5758 +[05/27 09:51:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5758 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 09:51:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5758 +[05/27 09:51:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5758: 0/1 successful episodes +[05/27 09:51:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5880 (index 62/114) +[05/27 09:51:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:51:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 09:52:09 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_3 in scene +[05/27 09:52:09 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_3 in scene +Goal: place blue rectangular alarm clock with knob next to iridescent translucent blue star ornament +[2026-05-27 09:53:12,938] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:06:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 5880 episode 0 object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_5 completed with success=False +[05/27 10:06:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5880: 1 episodes +[05/27 10:06:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:06:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:06:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5880 +[05/27 10:06:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5880 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 10:06:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5880 +[05/27 10:06:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5880: 0/1 successful episodes +[05/27 10:06:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5915 (index 63/114) +[05/27 10:06:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 10:06:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place storage device next to ornate vintage brass bell +[2026-05-27 10:08:16,644] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:23:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5915 episode 0 object objaminidvtape_8ce4607326784eda8675e3bcfb11ff6f_1_0_8 completed with success=False +[05/27 10:23:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5915: 1 episodes +[05/27 10:23:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:23:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:23:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5915 +[05/27 10:23:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5915 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 10:23:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5915 +[05/27 10:23:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5915: 0/1 successful episodes +[05/27 10:23:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6030 (index 64/114) +[05/27 10:23:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 10:23:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place slender wooden needle with hole next to handheld drill +[2026-05-27 10:24:55,227] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:34:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 6030 episode 0 object objaneedle_9abd71cdbfbd4af8a900b0fb4b3f2d70_1_0_7 completed with success=False +[05/27 10:34:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6030: 1 episodes +[05/27 10:34:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:34:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:34:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6030 +[05/27 10:34:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6030 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 10:34:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6030 +[05/27 10:34:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6030: 0/1 successful episodes +[05/27 10:34:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6072 (index 65/114) +[05/27 10:34:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6072 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 10:34:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 10:34:58 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +[05/27 10:34:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_2d786307e3f14da89e0056b8675f340f_1_0_5 in scene +Goal: place vintage metal drafting compass with handle next to black gas mask with cross symbol +[2026-05-27 10:36:02,006] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:36:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:50:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6072 episode 0 object objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_4 completed with success=False +[05/27 10:50:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 10:50:53 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +[05/27 10:50:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_2d786307e3f14da89e0056b8675f340f_1_0_5 in scene +Goal: place crumpled silver metallic foil next to switch plate +[2026-05-27 10:51:56,967] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:52:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:06:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 6072 episode 1 object objafoil_67f6e895f5f34572afc152008228d819_1_0_7 completed with success=False +[05/27 11:06:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6072: 2 episodes +[05/27 11:06:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:06:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:07:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:07:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:07:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6072 +[05/27 11:07:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6072 in 5.04s (batch: 4.87s, save: 0.17s) +[05/27 11:07:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6072 +[05/27 11:07:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6072: 0/2 successful episodes +[05/27 11:07:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6102 (index 66/114) +[05/27 11:07:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:07:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 11:07:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadog_8e613ab54ccb486c80a5042e8ff7424c_1_0_6 in scene +[05/27 11:07:27 Worker 0 WARNING object_manager.py:1238] Could not find object vase_5e3958a310670d88fd4347b82c234dda_1_0_6 in scene +Goal: place small green artificial aloe plant next to translucent plastic ergonomic spray bottle +[2026-05-27 11:08:29,673] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:09:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:26:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 6102 episode 0 object objaartificialplant_23ce2fda23bb4e68a289675be2ce511e_1_0_2 completed with success=False +[05/27 11:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6102: 1 episodes +[05/27 11:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:27:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:27:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6102 +[05/27 11:27:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6102 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 11:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6102 +[05/27 11:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6102: 0/1 successful episodes +[05/27 11:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6199 (index 67/114) +[05/27 11:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6199 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place fresh ginger root with colorful shoots next to rectangular red metal toaster with controls +[2026-05-27 11:28:19,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:28:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:35:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 6199 episode 0 object objagingerroot_302be40cdf08485aac1111f39e70dbd0_2_0_2 completed with success=False +[05/27 11:35:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6199: 1 episodes +[05/27 11:35:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:35:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:35:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6199 +[05/27 11:35:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6199 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 11:35:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6199 +[05/27 11:35:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6199: 0/1 successful episodes +[05/27 11:35:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6252 (index 68/114) +[05/27 11:35:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6252 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:35:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place yellow handheld gps next to round loaf with brown crust +[2026-05-27 11:37:03,825] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:37:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:46:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 6252 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_6 completed with success=False +[05/27 11:47:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6252: 1 episodes +[05/27 11:47:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:47:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:47:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6252 +[05/27 11:47:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6252 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 11:47:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6252 +[05/27 11:47:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6252: 0/1 successful episodes +[05/27 11:47:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6298 (index 69/114) +[05/27 11:47:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:47:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place terracotta owl vessel with spout next to blue toy monster truck +[2026-05-27 11:48:15,572] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:48:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:51:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 6298 episode 0 object objavessel_8bd6e267f265481682e17f696b201103_1_0_6 completed with success=True +[05/27 11:51:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6298: 1 episodes +[05/27 11:51:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 118 timesteps +[05/27 11:51:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:51:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6298 +[05/27 11:51:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6298 in 2.33s (batch: 2.29s, save: 0.04s) +[05/27 11:51:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6298 +[05/27 11:51:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6298: 1/1 successful episodes +[05/27 11:51:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6382 (index 70/114) +[05/27 11:51:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:51:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 11:51:47 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_5 in scene +[05/27 11:51:47 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6 in scene +Goal: place stylized blue fish with yellow fins next to fresh green spherical head lettuce +[2026-05-27 11:52:51,114] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:53:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:09:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6382 episode 0 object objatoyfish_ce9b4915b37042308e4e6dadbcf91087_1_0_2 completed with success=False +[05/27 12:09:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6382: 1 episodes +[05/27 12:09:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:09:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:09:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6382 +[05/27 12:09:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6382 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 12:09:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6382 +[05/27 12:09:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6382: 0/1 successful episodes +[05/27 12:09:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6438 (index 71/114) +[05/27 12:09:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6438 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 12:09:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 12:10:09 Worker 0 WARNING object_manager.py:1238] Could not find object objagardentrowel_f4d44155b3c04a0aaedd5c90428d52e3_1_0_8 in scene +[05/27 12:10:09 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_8 in scene +Goal: place hand tool next to chunky pink and white knitted beanie +[2026-05-27 12:11:13,443] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:30:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 6438 episode 0 object objaawl_a001d9c9ea68400d9e57893975d3d39d_1_0_7 completed with success=False +[05/27 12:30:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6438: 1 episodes +[05/27 12:30:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:30:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:30:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6438 +[05/27 12:30:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6438 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 12:30:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6438 +[05/27 12:30:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6438: 0/1 successful episodes +[05/27 12:30:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6538 (index 72/114) +[05/27 12:30:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6538 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 12:30:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/61 [00:00 does not support tracking retries. +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_7 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyjet_df89e1dd4ea349ee9290de90ae4bef05_1_0_7 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_9 in scene +Goal: place elongated rough dried fish next to tall dark cup +[2026-05-27 12:31:49,348] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:50:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6538 episode 0 object objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_2_0_2 completed with success=False +[05/27 12:50:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6538: 1 episodes +[05/27 12:50:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:50:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:50:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6538 +[05/27 12:50:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6538 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 12:50:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6538 +[05/27 12:50:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6538: 0/1 successful episodes +[05/27 12:50:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6696 (index 73/114) +[05/27 12:50:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6696 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 12:50:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place white stand with flag next to white analog stopwatch +[2026-05-27 12:52:15,794] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:04:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 6696 episode 0 object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_3 completed with success=False +[05/27 13:04:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6696: 1 episodes +[05/27 13:04:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:04:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:04:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6696 +[05/27 13:04:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6696 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 13:04:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6696 +[05/27 13:04:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6696: 0/1 successful episodes +[05/27 13:04:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6758 (index 74/114) +[05/27 13:04:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6758 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:04:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place shiny metallic coil spring cylinder next to sleek adjustable black silver arm +[2026-05-27 13:06:02,997] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:06:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:18:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 6758 episode 0 object objacoilspring_bff10a4e7bb14d6f860f861f54134543_1_0_7 completed with success=False +[05/27 13:18:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6758: 1 episodes +[05/27 13:18:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:18:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:18:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6758 +[05/27 13:18:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6758 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 13:18:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6758 +[05/27 13:18:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6758: 0/1 successful episodes +[05/27 13:18:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6883 (index 75/114) +[05/27 13:18:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6883 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:18:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 13:19:06 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_8 in scene +[05/27 13:19:06 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_8 in scene +Goal: place promotional sign next to soapdispenser +[2026-05-27 13:20:08,932] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:20:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:24:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 6883 episode 0 object objasign_391b2617850d489e8e717d00c24eada6_1_0_8 completed with success=False +[05/27 13:24:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6883: 1 episodes +[05/27 13:24:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:24:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:24:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6883 +[05/27 13:24:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6883 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 13:24:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6883 +[05/27 13:24:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6883: 0/1 successful episodes +[05/27 13:24:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6937 (index 76/114) +[05/27 13:24:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:24:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place jagged white marble piece with veins next to green hardcover book titled the effective engineer +[2026-05-27 13:26:08,385] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:40:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 6937 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False +[05/27 13:40:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6937: 1 episodes +[05/27 13:40:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:40:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:40:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6937 +[05/27 13:40:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6937 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 13:40:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6937 +[05/27 13:40:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6937: 0/1 successful episodes +[05/27 13:40:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7012 (index 77/114) +[05/27 13:40:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7012 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:40:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objawindmillmodel_15999570dd354b0d85d17501a7bd7d8f_1_0_4 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaexplosivedevice_8a7070ce4ec14f0c821f620ae171fd20_1_0_4 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_ed06160ef39c4275ac61b389908ec05f_1_0_5 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_84c1fb3b7b2d41c5883350e73ceade92_1_0_5 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_7 in scene +Goal: place round ceramic plate with floral pattern next to golden brown artisanal loaf of bread +[2026-05-27 13:42:07,969] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:59:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 7012 episode 0 object objaceramicplate_3b15c410f87f42daa7e8cb5b5f74e3f1_1_0_2 completed with success=False +[05/27 13:59:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7012: 1 episodes +[05/27 13:59:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:59:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:59:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7012 +[05/27 13:59:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7012 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 13:59:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7012 +[05/27 13:59:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7012: 0/1 successful episodes +[05/27 13:59:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7066 (index 78/114) +[05/27 13:59:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7066 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:59:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 14:00:28 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_3 in scene +[05/27 14:00:28 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_3 in scene +Goal: place shallow metal pot next to white ceramic bowl +[2026-05-27 14:01:32,532] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:02:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:15:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7066 episode 0 object pot_e212d04be87cc98b4a5251ccfd9e1819_1_0_2 completed with success=False +[05/27 14:15:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7066: 1 episodes +[05/27 14:15:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:15:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:15:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7066 +[05/27 14:15:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7066 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 14:15:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7066 +[05/27 14:15:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7066: 0/1 successful episodes +[05/27 14:15:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7163 (index 79/114) +[05/27 14:15:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 14:15:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 14:15:56 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_8fc797d63d574f8db310de3b657a41b5_1_0_5 in scene +[05/27 14:15:56 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene +Goal: place smooth elongated green cucumber next to brown goblet +[2026-05-27 14:16:59,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:17:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:27:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 7163 episode 0 object objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_6 completed with success=False +[05/27 14:28:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7163: 1 episodes +[05/27 14:28:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:28:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:28:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7163 +[05/27 14:28:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7163 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 14:28:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7163 +[05/27 14:28:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7163: 0/1 successful episodes +[05/27 14:28:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7272 (index 80/114) +[05/27 14:28:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7272 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 14:28:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place adhesive tape next to conical soap bottle with pump +[2026-05-27 14:29:12,130] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:29:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:41:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7272 episode 0 object objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8 completed with success=False +[05/27 14:42:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7272: 1 episodes +[05/27 14:42:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:42:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:42:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7272 +[05/27 14:42:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7272 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 14:42:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7272 +[05/27 14:42:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7272: 0/1 successful episodes +[05/27 14:42:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7338 (index 81/114) +[05/27 14:42:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7338 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 14:42:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objahand_aaa3268584ea48618d88b22cf67505f0_1_0_3 in scene +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objastatue_bacc951f013645dab41c56e54a0c5930_1_0_3 in scene +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objacarmodel_03c68480c9c34174826f836b6c95c27e_1_0_4 in scene +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objatoothpastebox_7aa9002b63e9405e81d9985790acde36_1_0_4 in scene +Goal: place small dark egyptian figure statuette next to crockery +[2026-05-27 14:43:53,184] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:01:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 7338 episode 0 object objastatuette_b8fac4517e6b49498fec5e800adc6fcb_1_0_3 completed with success=False +[05/27 15:01:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7338: 1 episodes +[05/27 15:01:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:01:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:01:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7338 +[05/27 15:01:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7338 in 2.37s (batch: 2.29s, save: 0.09s) +[05/27 15:01:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7338 +[05/27 15:01:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7338: 0/1 successful episodes +[05/27 15:01:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7375 (index 82/114) +[05/27 15:01:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:01:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 15:01:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place purple flower pot with plant next to blue soap bottle with orange pump +[2026-05-27 15:02:25,371] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:02:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:13:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7375 episode 0 object objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6 completed with success=False +[05/27 15:13:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7375: 1 episodes +[05/27 15:13:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:13:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:13:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7375 +[05/27 15:13:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7375 in 2.38s (batch: 2.27s, save: 0.10s) +[05/27 15:13:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7375 +[05/27 15:13:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7375: 0/1 successful episodes +[05/27 15:13:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7448 (index 83/114) +[05/27 15:13:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7448 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:13:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_3 in scene +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_3 in scene +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_a42f14e6d8b7476f8e036cec5e2bc122_1_0_9 in scene +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_9 in scene +Goal: place orange toy raygun next to detailed scale model commercial building +[2026-05-27 15:15:11,640] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:32:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7448 episode 0 object objatoyraygun_e2ae085aca5147b7bb963bc408dd774d_1_0_3 completed with success=False +[05/27 15:32:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7448: 1 episodes +[05/27 15:32:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:32:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:32:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7448 +[05/27 15:32:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7448 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 15:32:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7448 +[05/27 15:32:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7448: 0/1 successful episodes +[05/27 15:32:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7505 (index 84/114) +[05/27 15:32:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:32:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place smooth off-white dog bone toy next to stylized red flower with green leaves +[2026-05-27 15:33:52,605] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:34:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:42:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 7505 episode 0 object objadogtoy_619ebcad52474517b55ead09935e4a57_1_0_2 completed with success=False +[05/27 15:42:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7505: 1 episodes +[05/27 15:42:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:42:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:42:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7505 +[05/27 15:42:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7505 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 15:42:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7505 +[05/27 15:42:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7505: 0/1 successful episodes +[05/27 15:42:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7631 (index 85/114) +[05/27 15:42:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:42:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 15:42:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaskull_60ad026c0f424aa29edfa947e4921276_1_0_6 in scene +Goal: place black vintage camera with rainbow stripe next to gold pump bottle +[2026-05-27 15:44:01,994] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:44:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:57:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7631 episode 0 object objainstantcamera_e5b7a512a7834420b3dfc5bc15d3bdf6_1_0_8 completed with success=False +[05/27 15:57:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7631: 1 episodes +[05/27 15:57:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:57:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:57:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7631 +[05/27 15:57:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7631 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 15:57:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7631 +[05/27 15:57:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7631: 0/1 successful episodes +[05/27 15:57:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7748 (index 86/114) +[05/27 15:57:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:57:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 15:57:38 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_129920be953d458a941ea1f33599a5bf_1_0_5 in scene +[05/27 15:57:38 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_5 in scene +[05/27 15:57:38 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_7 in scene +Goal: place glossy colorful rubik's cube puzzle next to brown wooden bowl +[2026-05-27 15:58:43,344] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:12:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7748 episode 0 object objapuzzle_a04ff652820c465da4ba7a427fd34417_1_0_8 completed with success=False +[05/27 16:13:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7748: 1 episodes +[05/27 16:13:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:13:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:13:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7748 +[05/27 16:13:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7748 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 16:13:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7748 +[05/27 16:13:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7748: 0/1 successful episodes +[05/27 16:13:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7843 (index 87/114) +[05/27 16:13:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7843 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:13:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 16:13:18 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_6afe3635cad7781073478ce57191cfc3_2_0_7 in scene +[05/27 16:13:18 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_b7727b77b84280c50b68099ba174d84e_1_0_7 in scene +Goal: place blue four-sided die next to blue liquid bottle +[2026-05-27 16:14:22,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:14:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:29:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 7843 episode 0 object objadie_7df438532d2f4567a87fb61f0336ad57_1_0_2 completed with success=False +[05/27 16:29:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7843: 1 episodes +[05/27 16:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:29:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:29:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7843 +[05/27 16:29:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7843 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 16:29:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7843 +[05/27 16:29:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7843: 0/1 successful episodes +[05/27 16:29:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7929 (index 88/114) +[05/27 16:29:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7929 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:29:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 16:30:02 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_3_0_5 in scene +[05/27 16:30:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place green circuit board with labeled connectors next to yellow rectangular box with branding +[2026-05-27 16:31:06,049] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:46:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7929 episode 0 object objacircuitboard_514169482d3b42378dd5131d6e411b59_1_0_3 completed with success=False +[05/27 16:47:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7929: 1 episodes +[05/27 16:47:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:47:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:47:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7929 +[05/27 16:47:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7929 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 16:47:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7929 +[05/27 16:47:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7929: 0/1 successful episodes +[05/27 16:47:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8008 (index 89/114) +[05/27 16:47:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8008 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:47:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 16:47:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaskullmodel_8c534dd087ba4d739243fba8b411e7a6_1_0_4 in scene +[05/27 16:47:15 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene +Goal: place large stainless steel cooking pot next to blue ceramic plate +[2026-05-27 16:48:20,230] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:48:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:57:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 8008 episode 0 object pot_953c9fc3b15d21564e56b7875cf8af20_1_0_2 completed with success=False +[05/27 16:57:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8008: 1 episodes +[05/27 16:57:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:57:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:57:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8008 +[05/27 16:57:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8008 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 16:57:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8008 +[05/27 16:57:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8008: 0/1 successful episodes +[05/27 16:57:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8063 (index 90/114) +[05/27 16:57:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 8063 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:57:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place blue dna helix next to bulbous shiny gold vase +[2026-05-27 16:58:44,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:59:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:11:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 8063 episode 0 object objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_5 completed with success=False +[05/27 17:11:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place blue and white modern electric iron next to rectangular plaque with astronaut design +[2026-05-27 17:12:58,399] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:25:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 8063 episode 1 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2 completed with success=False +[05/27 17:25:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8063: 2 episodes +[05/27 17:25:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:25:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:25:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:25:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:25:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8063 +[05/27 17:25:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8063 in 4.83s (batch: 4.66s, save: 0.17s) +[05/27 17:25:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8063 +[05/27 17:25:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8063: 0/2 successful episodes +[05/27 17:25:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8111 (index 91/114) +[05/27 17:25:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8111 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 17:25:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 17:26:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place medium red tomato with small stem next to fresh green lettuce head with stem +[2026-05-27 17:27:10,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:38:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 8111 episode 0 object tomato_5eae6c3ba60250aba913d63c8804bcf4_1_0_6 completed with success=False +[05/27 17:38:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8111: 1 episodes +[05/27 17:38:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:39:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:39:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8111 +[05/27 17:39:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8111 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 17:39:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8111 +[05/27 17:39:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8111: 0/1 successful episodes +[05/27 17:39:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8216 (index 92/114) +[05/27 17:39:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 17:39:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 17:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object objabakingingredientpackage_4cbd81f4246640bb8ee09370e4fcd7ed_1_0_2 in scene +[05/27 17:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object cup_b31afea732a344b3a47a266ce9bb531f_1_0_2 in scene +Goal: place roll of light brown adhesive tape next to miniature pink torii gate with gray top +[2026-05-27 17:40:19,908] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:40:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:59:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 8216 episode 0 object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_2 completed with success=False +[05/27 17:59:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8216: 1 episodes +[05/27 17:59:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:00:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:00:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8216 +[05/27 18:00:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8216 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 18:00:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8216 +[05/27 18:00:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8216: 0/1 successful episodes +[05/27 18:00:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8254 (index 93/114) +[05/27 18:00:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8254 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:00:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place dark metal frying pan with handle next to gray spray bottle +[2026-05-27 18:01:12,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:01:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:08:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 8254 episode 0 object cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2 completed with success=False +[05/27 18:08:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8254: 1 episodes +[05/27 18:08:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:08:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:08:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8254 +[05/27 18:08:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8254 in 2.43s (batch: 2.33s, save: 0.10s) +[05/27 18:08:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8254 +[05/27 18:08:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8254: 0/1 successful episodes +[05/27 18:08:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8347 (index 94/114) +[05/27 18:08:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:08:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 18:08:31 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_7a75c224806a4d04a7a9ebba517ad100_1_0_6 in scene +[05/27 18:08:31 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene +Goal: place red star goblet next to long slender brown wooden piece +[2026-05-27 18:09:33,257] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:10:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:20:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 8347 episode 0 object objadecorativegoblet_20d62fed128845d5942720920dd1e441_1_0_4 completed with success=False +[05/27 18:20:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8347: 1 episodes +[05/27 18:20:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:20:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:20:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8347 +[05/27 18:20:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8347 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 18:20:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8347 +[05/27 18:20:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8347: 0/1 successful episodes +[05/27 18:20:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8407 (index 95/114) +[05/27 18:20:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8407 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:20:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place munition next to black cat with purple ears and tail +[2026-05-27 18:21:35,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:22:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 8407 episode 0 object objabulletcartridge_1b46a5e8c3aa4ce9ac49c68efdb21b9c_1_0_7 completed with success=False +[05/27 18:28:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8407: 1 episodes +[05/27 18:28:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:28:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8407 +[05/27 18:28:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8407 in 2.72s (batch: 2.64s, save: 0.09s) +[05/27 18:28:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8407 +[05/27 18:28:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8407: 0/1 successful episodes +[05/27 18:28:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8483 (index 96/114) +[05/27 18:28:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:28:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 18:29:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_5 in scene +[05/27 18:29:08 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene +Goal: place beige windmill with blue roof next to olive green clamp with grip +[2026-05-27 18:30:11,131] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 8483 episode 0 object objadecorativewindmill_558349ea1db149029e67490134e33c21_1_0_4 completed with success=False +[05/27 18:48:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8483: 1 episodes +[05/27 18:48:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:48:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8483 +[05/27 18:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8483 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 18:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8483 +[05/27 18:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8483: 0/1 successful episodes +[05/27 18:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8598 (index 97/114) +[05/27 18:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8598 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:48:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place vintage red hand drill with gear next to slim dark cellphone with buttons +[2026-05-27 18:49:33,882] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:50:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:04:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 8598 episode 0 object objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_3 completed with success=False +[05/27 19:04:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8598: 1 episodes +[05/27 19:04:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:04:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:04:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8598 +[05/27 19:04:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8598 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 19:04:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8598 +[05/27 19:04:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8598: 0/1 successful episodes +[05/27 19:04:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8693 (index 98/114) +[05/27 19:04:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8693 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:04:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place worn notebook with stickers next to moka pot +[2026-05-27 19:06:20,262] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:18:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 8693 episode 0 object objanotebook_21d8c15bddc8434e89d7d8d7e67092c9_1_0_6 completed with success=False +[05/27 19:18:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8693: 1 episodes +[05/27 19:18:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:18:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:18:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8693 +[05/27 19:18:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8693 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 19:18:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8693 +[05/27 19:18:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8693: 0/1 successful episodes +[05/27 19:18:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8774 (index 99/114) +[05/27 19:18:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:18:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place food packet next to brown bread +[2026-05-27 19:19:21,656] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:27:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 8774 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False +[05/27 19:27:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8774: 1 episodes +[05/27 19:27:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:27:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:27:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8774 +[05/27 19:27:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8774 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 19:27:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8774 +[05/27 19:27:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8774: 0/1 successful episodes +[05/27 19:27:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8866 (index 100/114) +[05/27 19:27:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8866 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:27:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 19:28:02 Worker 0 WARNING object_manager.py:1238] Could not find object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_7 in scene +[05/27 19:28:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_7 in scene +Goal: place hiking shoe next to miniature tower +[2026-05-27 19:29:06,983] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:29:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:42:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 8866 episode 0 object objahikingshoe_36cf424a356146249c8043410083858f_1_0_5 completed with success=False +[05/27 19:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8866: 1 episodes +[05/27 19:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:42:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:42:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8866 +[05/27 19:42:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8866 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 19:42:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8866 +[05/27 19:42:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8866: 0/1 successful episodes +[05/27 19:42:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8925 (index 101/114) +[05/27 19:42:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:42:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 19:43:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 19:43:04 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_e58a7a0c37cb0ef9c8155d56cc319ccf_1_0_6 in scene +Goal: place metallic bold three-dimensional nameplate next to alarmclock +[2026-05-27 19:44:09,419] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:44:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:55:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 8925 episode 0 object objanameplate_47e5a18ca5c74911af360bf4de7aa9f2_1_0_4 completed with success=False +[05/27 19:55:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8925: 1 episodes +[05/27 19:55:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:55:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:55:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8925 +[05/27 19:55:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8925 in 2.81s (batch: 2.64s, save: 0.17s) +[05/27 19:55:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8925 +[05/27 19:55:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8925: 0/1 successful episodes +[05/27 19:55:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8996 (index 102/114) +[05/27 19:55:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8996 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:55:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place shiny gold candy wrapper with twists next to transparent conical cup with base +[2026-05-27 19:57:36,187] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:58:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:59:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 8996 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_6 completed with success=False +[05/27 19:59:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8996: 1 episodes +[05/27 19:59:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:59:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:59:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8996 +[05/27 19:59:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8996 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 19:59:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8996 +[05/27 19:59:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8996: 0/1 successful episodes +[05/27 19:59:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9058 (index 103/114) +[05/27 19:59:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9058 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:59:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place elongated red pepper with stem next to smooth glossy red tomato +[2026-05-27 20:01:21,011] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:01:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:15:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 9058 episode 0 object objavegetable_efb5f76948714689a43d7e41f712555a_1_0_2 completed with success=False +[05/27 20:15:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9058: 1 episodes +[05/27 20:15:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:15:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:15:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9058 +[05/27 20:15:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9058 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 20:15:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9058 +[05/27 20:15:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9058: 0/1 successful episodes +[05/27 20:15:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9140 (index 104/114) +[05/27 20:15:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 20:15:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 20:16:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_2 in scene +Goal: place gold black toy robot next to book +[2026-05-27 20:17:30,381] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:18:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:26:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 9140 episode 0 object objatoyrobot_7edbf0ed6932465c86bdf37d2a53ffeb_1_0_7 completed with success=False +[05/27 20:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9140: 1 episodes +[05/27 20:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:27:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:27:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9140 +[05/27 20:27:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9140 in 2.41s (batch: 2.31s, save: 0.09s) +[05/27 20:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9140 +[05/27 20:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9140: 0/1 successful episodes +[05/27 20:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9190 (index 105/114) +[05/27 20:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 20:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 20:27:24 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene +[05/27 20:27:24 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene +Goal: place locking pliers next to green glossy cup with spherical base +[2026-05-27 20:28:25,322] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:28:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:43:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9190 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False +[05/27 20:43:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9190: 1 episodes +[05/27 20:43:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:43:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:43:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9190 +[05/27 20:43:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9190 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 20:43:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9190 +[05/27 20:43:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9190: 0/1 successful episodes +[05/27 20:43:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9296 (index 106/114) +[05/27 20:43:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9296 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 20:43:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place yellow energy cell with text next to black cylinder +[2026-05-27 20:45:02,924] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:00:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9296 episode 0 object objabattery_232d825f11f5428382e14dacefa02f0c_2_0_4 completed with success=False +[05/27 21:00:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9296: 1 episodes +[05/27 21:00:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:00:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:00:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9296 +[05/27 21:00:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9296 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 21:00:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9296 +[05/27 21:00:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9296: 0/1 successful episodes +[05/27 21:00:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9398 (index 107/114) +[05/27 21:00:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:00:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 21:00:35 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_7 in scene +Goal: place sleek black spinning top next to gold metallic phone +[2026-05-27 21:01:38,401] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:02:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:13:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 9398 episode 0 object objaspinningtop_15be96b0b22d4f69b3569445bd372c48_1_0_4 completed with success=False +[05/27 21:13:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9398: 1 episodes +[05/27 21:13:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:13:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:13:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9398 +[05/27 21:13:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9398 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 21:13:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9398 +[05/27 21:13:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9398: 0/1 successful episodes +[05/27 21:13:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9491 (index 108/114) +[05/27 21:13:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:13:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 21:13:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_5 in scene +[05/27 21:13:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_3_0_5 in scene +[05/27 21:13:45 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place rustic windmill next to blue square plate with hexagons +[2026-05-27 21:14:51,009] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:29:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 9491 episode 0 object objaminiaturewindmill_7e16ed658d92416e9faae0ad91059e92_1_0_4 completed with success=False +[05/27 21:29:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9491: 1 episodes +[05/27 21:29:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:29:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:29:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9491 +[05/27 21:29:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9491 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 21:29:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9491 +[05/27 21:29:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9491: 0/1 successful episodes +[05/27 21:29:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9534 (index 109/114) +[05/27 21:29:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9534 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:29:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 21:29:57 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 in scene +[05/27 21:29:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene +Goal: place metal multitool next to spray bottle +[2026-05-27 21:31:01,837] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:31:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:42:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 9534 episode 0 object objamultitool_d9de978241864228829edcf061a8ce64_1_0_8 completed with success=False +[05/27 21:42:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9534: 1 episodes +[05/27 21:42:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:42:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:42:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9534 +[05/27 21:42:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9534 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 21:42:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9534 +[05/27 21:42:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9534: 0/1 successful episodes +[05/27 21:42:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9605 (index 110/114) +[05/27 21:42:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9605 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:42:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place black magician's wand with white tips next to soap dispenser +[2026-05-27 21:43:49,489] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:44:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:49:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 9605 episode 0 object objamagicwand_95837e7f267649c4b344bd47c6d3238a_1_0_2 completed with success=False +[05/27 21:49:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9605: 1 episodes +[05/27 21:49:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:49:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:49:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9605 +[05/27 21:49:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9605 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 21:49:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9605 +[05/27 21:49:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9605: 0/1 successful episodes +[05/27 21:49:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9673 (index 111/114) +[05/27 21:49:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9673 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:49:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place gold patterned ocarina next to small ceramic church model with steeple +[2026-05-27 21:50:19,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:00:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 9673 episode 0 object objaocarina_a29e1d2cb6af40c49572e4085c9cdd23_1_0_7 completed with success=False +[05/27 22:00:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9673: 1 episodes +[05/27 22:00:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:00:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:00:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9673 +[05/27 22:00:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9673 in 2.64s (batch: 2.56s, save: 0.09s) +[05/27 22:00:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9673 +[05/27 22:00:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9673: 0/1 successful episodes +[05/27 22:00:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9767 (index 112/114) +[05/27 22:00:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 22:00:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place pointed silver blade garden trowel next to black magnifying glass with handle +[2026-05-27 22:01:27,789] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:02:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:07:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 9767 episode 0 object objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_2 completed with success=False +[05/27 22:08:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9767: 1 episodes +[05/27 22:08:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:08:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:08:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9767 +[05/27 22:08:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9767 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 22:08:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9767 +[05/27 22:08:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9767: 0/1 successful episodes +[05/27 22:08:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9928 (index 113/114) +[05/27 22:08:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 22:08:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/27 22:08:34 Worker 0 WARNING object_manager.py:1238] Could not find object objatoothpastetube_394713df518944d2aea8b43097b444f5_1_0_3 in scene +[05/27 22:08:34 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_3 in scene +Goal: place gray compact device with pink strap next to dark muscular statue standing dynamically +[2026-05-27 22:09:32,570] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:10:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:17:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 9928 episode 0 object objahandhelddevice_2d9af38e33bf46af992044599ff8adf9_1_0_2 completed with success=False +[05/27 22:17:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9928: 1 episodes +[05/27 22:17:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:17:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:17:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9928 +[05/27 22:17:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9928 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 22:17:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9928 +[05/27 22:17:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9928: 0/1 successful episodes +[05/27 22:17:42 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 22:17:43 INFO pipeline.py:1496] Completed 114 houses, skipped 0 houses +[05/27 22:17:43 INFO pipeline.py:1499] Success count: 3, Total count: 118 +[05/27 22:17:43 INFO pipeline.py:1500] Success rate: 2.54% +Combined 118 episodes from 114 files → /tmp/tmp5sk_4hm5.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv at-end: 2.54% | oracle: 2.54% of 118 episodes +[2026-05-27 22:17:56,231] INFO MolmoSpaces simulator eval finished: success=3/118 rate=0.0254 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval +[2026-05-27 22:17:56,232] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..71399c679ed00b683037b70bd31da856523c9ffb --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25f9f8c0f6eb77d9838e245cf46e979353ac55de --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/episode_results.jsonl @@ -0,0 +1,118 @@ +{"house_id": "house_1016", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone arrowhead with sharp edges and place it next to the small shiny gold dog statue", "object_name": "objaarrowhead_e4a837393e164540b04973adf53c10ed_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1016/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1129", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek glossy curved plastic frame and place it next to the black beanie with green gold pattern", "object_name": "objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1129/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1215", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the flat handle and place it next to the purple bottle", "object_name": "objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1215/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1281", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive green hand smoke grenade and place it next to the laptop computer", "object_name": "objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1281/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1357", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black virtual headset and place it next to the yellow device", "object_name": "objavirtualrealityheadset_0d6c1d6aa3f747a5b35f8105ed585418_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1357/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1421", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple flower pot with plant and place it next to the dark gray metal shackle with orange pin", "object_name": "objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1421", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray metal shackle and place it next to the soap bottle", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1440", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic stone tray and place it next to the medium dark metal cooking pot", "object_name": "objastonetray_af335dd50e394ba0ab92dd4e4e86954d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1440/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1598", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red rectangular box of pasta and place it next to the soap bottle", "object_name": "objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1598/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1698", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black night vision scope and place it next to the smart display device", "object_name": "objanightvisionscope_060a8c828d7a48789fbade22b83a2f15_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1698/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1765", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden pestle with jagged top and place it next to the blue rounded pot with handles and straps", "object_name": "objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1765/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1862", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue bifold wallet with brown interior and place it next to the soap dispenser", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1862/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1937", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tissue paper and place it next to the purple spray bottle with white nozzle", "object_name": "objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1937/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2034", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vibrant magenta coil spring on base and place it next to the cassetteplayer", "object_name": "objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2034/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2142", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pointed brass bullet with tip and place it next to the gold vintage camera", "object_name": "objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2142/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2245", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the garden hose connector and place it next to the thick yellow hardcover book", "object_name": "objagardenhoseconnector_bf765bb3a0824d8fb21121f299b44df4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2245/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2360", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the paint roller with textured off-white head and place it next to the white ceramic vase with subtle ridges", "object_name": "objapaintroller_002a355c77774228b15db50d77d0e002_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2360/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2465", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium smooth red apple and place it next to the crumpled white plastic bag with stains", "object_name": "apple_8a1c7fb834f6201db020cae968b49bbc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2465/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the old-fashioned metal pencil sharpener and place it next to the round brown bread loaf domed", "object_name": "objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2502/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2638", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple plastic spray bottle with trigger and place it next to the blue toaster with two slots", "object_name": "atomizer_834d386e080077accc22e6eae5471528_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2638/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2775", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the oblong brown potato with blemishes and place it next to the antique cannon model", "object_name": "objapotato_77c957c8e7054cf4909472bfdaa04328_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2775/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2853", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden paddle with black decorative rectangles and place it next to the laptop computer", "object_name": "objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2853/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2948", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the deer bust with red collar and place it next to the yellow handled kitchen knife", "object_name": "objadecorativebust_5a6e5b23243d41a2a5cec0e259c56ba3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2948/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3052", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spray paint can and place it next to the olive scalloped ceramic plate", "object_name": "objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3052/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3190", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the futuristic device and place it next to the blue soap bottle", "object_name": "objaappliance_a295613096c54e6e9c898469e8afc236_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3190/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3247", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metal plate mount and place it next to the gray butterfly with geometric patterns", "object_name": "objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3247/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3284", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy deep red arrow sign and place it next to the bulbous shiny gold metallic vase", "object_name": "objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3284/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3373", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 44, "task_description": "Pick up the vintage desk calendar with handle and place it next to the dark gray laptop with keyboard", "object_name": "objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_2", "data_file_path": 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"task_description": "Pick up the transceiver and place it next to the weathered metallic electrical box with handle", "object_name": "objanetworkdevice_224e056b02a040039f7c4a9b141e25e5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3515/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3626", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal cordless grinder and place it next to the house plant", "object_name": "objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_4", "data_file_path": 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"task_description": "Pick up the instrumentation and place it next to the dark gray cylindrical metal coil spring", "object_name": "objahandhelddevice_fd9fdf81ab624a66897bbd8ac299e26f_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4019/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4030", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metallic effects pedal and place it next to the gray dispenser with metallic tip", "object_name": "objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5", "data_file_path": 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rectangular metal plate mount and place it next to the curved off-white jawbone with teeth", "object_name": "objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4200/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4273", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal hinge and place it next to the tall copper cup with ridges", "object_name": "objahinge_4587c40e36704e7a96ffebad95028160_1_0_2", "data_file_path": 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449, "task_description": "Pick up the pink scepter with wings and gold and place it next to the shiny smooth red apple", "object_name": "objascepter_4efafd930f154d6a99ec9818d0f3a66a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4662/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4706", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular white sandwich and place it next to the rectangular transparent soap bottle", "object_name": "objasandwich_8e8b342613f0477182ec8586876291cf_1_0_8", "data_file_path": 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449, "task_description": "Pick up the pink card with bow and flowers and place it next to the large winged fierce dragon model", "object_name": "objadecorativecard_55b595711d0e4b0f894d1ce1f6b1f050_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4867/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4939", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cellphone and place it next to the breadstuff", "object_name": "cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8", "data_file_path": 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"task_description": "Pick up the gray triangular rugged stone tool and place it next to the ornate golden mirror with purple surface", "object_name": "objastonetool_98c2763ae351483da79dc4da9b3dc043_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5131/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5193", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the aerosol bomb and place it next to the blue spray bottle", "object_name": "objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_2", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the storage device and place it next to the ornate vintage brass bell", "object_name": "objaminidvtape_8ce4607326784eda8675e3bcfb11ff6f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5915/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6030", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender wooden needle with hole and place it next to the handheld drill", "object_name": "objaneedle_9abd71cdbfbd4af8a900b0fb4b3f2d70_1_0_7", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the crumpled silver metallic foil and place it next to the switch plate", "object_name": "objafoil_67f6e895f5f34572afc152008228d819_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6072/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_610", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round dish with handle and pattern and place it next to the brown bread", "object_name": "objaservingdish_5d58816fa8534b568d8e96cd47a8f413_1_0_2", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the fresh ginger root with colorful shoots and place it next to the rectangular red metal toaster with controls", "object_name": "objagingerroot_302be40cdf08485aac1111f39e70dbd0_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6199/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6252", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handheld gps and place it next to the round loaf with brown crust", "object_name": "objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_6", "data_file_path": 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"Pick up the stylized blue fish with yellow fins and place it next to the fresh green spherical head lettuce", "object_name": "objatoyfish_ce9b4915b37042308e4e6dadbcf91087_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6382/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6438", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hand tool and place it next to the chunky pink and white knitted beanie", "object_name": "objaawl_a001d9c9ea68400d9e57893975d3d39d_1_0_7", "data_file_path": 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the blue soldering iron and place it next to the smooth white ceramic serving bowl", "object_name": "objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_658/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6696", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white stand with flag and place it next to the white analog stopwatch", "object_name": "objamarkerstand_4b59e422673a438685b77375029f7926_1_0_3", "data_file_path": 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"task_description": "Pick up the promotional sign and place it next to the soapdispenser", "object_name": "objasign_391b2617850d489e8e717d00c24eada6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6883/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6937", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the jagged white marble piece with veins and place it next to the green hardcover book titled the effective engineer", "object_name": "objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the shallow metal pot and place it next to the white ceramic bowl", "object_name": "pot_e212d04be87cc98b4a5251ccfd9e1819_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7066/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7163", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth elongated green cucumber and place it next to the brown goblet", "object_name": "objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_6", "data_file_path": 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"task_description": "Pick up the adhesive tape and place it next to the conical soap bottle with pump", "object_name": "objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7272/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7338", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small dark egyptian figure statuette and place it next to the crockery", "object_name": "objastatuette_b8fac4517e6b49498fec5e800adc6fcb_1_0_3", "data_file_path": 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"task_description": "Pick up the orange toy raygun and place it next to the detailed scale model commercial building", "object_name": "objatoyraygun_e2ae085aca5147b7bb963bc408dd774d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7448/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7505", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth off-white dog bone toy and place it next to the stylized red flower with green leaves", "object_name": "objadogtoy_619ebcad52474517b55ead09935e4a57_1_0_2", "data_file_path": 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"task_description": "Pick up the stereo system and place it next to the brown leather football with laces", "object_name": "objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_774/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy colorful rubik's cube puzzle and place it next to the brown wooden bowl", "object_name": "objapuzzle_a04ff652820c465da4ba7a427fd34417_1_0_8", "data_file_path": 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circuit board with labeled connectors and place it next to the yellow rectangular box with branding", "object_name": "objacircuitboard_514169482d3b42378dd5131d6e411b59_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7929/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8008", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large stainless steel cooking pot and place it next to the blue ceramic plate", "object_name": "pot_953c9fc3b15d21564e56b7875cf8af20_1_0_2", "data_file_path": 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blue and white modern electric iron and place it next to the rectangular plaque with astronaut design", "object_name": "objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8063/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8111", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium red tomato with small stem and place it next to the fresh green lettuce head with stem", "object_name": "tomato_5eae6c3ba60250aba913d63c8804bcf4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8111/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8216", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the roll of light brown adhesive tape and place it next to the miniature pink torii gate with gray top", "object_name": "objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8216/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8254", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal frying pan with handle and place it next to the gray spray bottle", "object_name": "cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8254/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8347", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red star goblet and place it next to the long slender brown wooden piece", "object_name": "objadecorativegoblet_20d62fed128845d5942720920dd1e441_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8347/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8407", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the munition and place it next to the black cat with purple ears and tail", "object_name": "objabulletcartridge_1b46a5e8c3aa4ce9ac49c68efdb21b9c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8407/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8483", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige windmill with blue roof and place it next to the olive green clamp with grip", "object_name": "objadecorativewindmill_558349ea1db149029e67490134e33c21_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8483/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_853", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue spray bottle with nozzle and place it next to the glossy red tomato with twisting stem", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_853/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8598", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage red hand drill with gear and place it next to the slim dark cellphone with buttons", "object_name": "objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8598/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8693", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn notebook with stickers and place it next to the moka pot", "object_name": "objanotebook_21d8c15bddc8434e89d7d8d7e67092c9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8693/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8774", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the food packet and place it next to the brown bread", "object_name": "objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8774/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8866", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hiking shoe and place it next to the miniature tower", "object_name": "objahikingshoe_36cf424a356146249c8043410083858f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8866/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8925", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic bold three-dimensional nameplate and place it next to the alarmclock", "object_name": "objanameplate_47e5a18ca5c74911af360bf4de7aa9f2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8925/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8996", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold candy wrapper with twists and place it next to the transparent conical cup with base", "object_name": "objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8996/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9058", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated red pepper with stem and place it next to the smooth glossy red tomato", "object_name": "objavegetable_efb5f76948714689a43d7e41f712555a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9058/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold black toy robot and place it next to the book", "object_name": "objatoyrobot_7edbf0ed6932465c86bdf37d2a53ffeb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9140/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9190", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the locking pliers and place it next to the green glossy cup with spherical base", "object_name": "objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9190/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_923", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange wand and place it next to the vintage metal lever on dark wooden base", "object_name": "objawand_ea36b5fb4fc94e37bde2db99384a1cc6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_923/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9296", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow energy cell with text and place it next to the black cylinder", "object_name": "objabattery_232d825f11f5428382e14dacefa02f0c_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9296/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9398", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black spinning top and place it next to the gold metallic phone", "object_name": "objaspinningtop_15be96b0b22d4f69b3569445bd372c48_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9398/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9491", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic windmill and place it next to the blue square plate with hexagons", "object_name": "objaminiaturewindmill_7e16ed658d92416e9faae0ad91059e92_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9491/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9534", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal multitool and place it next to the spray bottle", "object_name": "objamultitool_d9de978241864228829edcf061a8ce64_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9534/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9605", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black magician's wand with white tips and place it next to the soap dispenser", "object_name": "objamagicwand_95837e7f267649c4b344bd47c6d3238a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9605/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9673", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold patterned ocarina and place it next to the small ceramic church model with steeple", "object_name": "objaocarina_a29e1d2cb6af40c49572e4085c9cdd23_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9673/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pointed silver blade garden trowel and place it next to the black magnifying glass with handle", "object_name": "objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9767/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9928", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray compact device with pink strap and place it next to the dark muscular statue standing dynamically", "object_name": "objahandhelddevice_2d9af38e33bf46af992044599ff8adf9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9928/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..1a11ea7693ba91287c38fc9c8b06ae3b61c8e169 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/eval.log @@ -0,0 +1,3739 @@ +[2026-05-26 19:43:51,268] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,270] INFO Using MuJoCo EGL device id: 4 +[2026-05-26 19:43:51,270] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,300] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 (source=arg) +[2026-05-26 19:43:53,340] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:02,358] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,280] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,758] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,232] INFO JsonEvalRunner initialized: 114 houses, 118 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 114 houses with 2 episodes each (228 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [610, + 658, + 721, + 774, + 853, + 923, + 1016, + 1129, + 1215, + 1281, + 1357, + 1421, + 1440, + 1598, + 1698, + 1765, + 1862, + 1937, + 2034, + 2142, + 2245, + 2360, + 2465, + 2502, + 2638, + 2775, + 2853, + 2948, + 3052, + 3190, + 3247, + 3284, + 3373, + 3420, + 3515, + 3626, + 3721, + 3763, + 3908, + 4019, + 4030, + 4132, + 4200, + 4273, + 4320, + 4396, + 4480, + 4584, + 4662, + 4706, + 4774, + 4867, + 4939, + 5038, + 5131, + 5193, + 5319, + 5449, + 5539, + 5599, + 5654, + 5758, + 5880, + 5915, + 6030, + 6072, + 6102, + 6199, + 6252, + 6298, + 6382, + 6438, + 6538, + 6696, + 6758, + 6883, + 6937, + 7012, + 7066, + 7163, + 7272, + 7338, + 7375, + 7448, + 7505, + 7631, + 7748, + 7843, + 7929, + 8008, + 8063, + 8111, + 8216, + 8254, + 8347, + 8407, + 8483, + 8598, + 8693, + 8774, + 8866, + 8925, + 8996, + 9058, + 9140, + 9190, + 9296, + 9398, + 9491, + 9534, + 9605, + 9673, + 9767, + 9928], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,237] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 610 (index 0/114) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 19:48:36 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_6 in scene +[05/26 19:48:36 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_2_0_9 in scene +Goal: place round dish with handle and pattern next to brown bread +2026-05-26 19:48:36.860 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:37,804] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:39,653] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:40,200] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:40,403] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:40,407] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:05:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 610 episode 0 object objaservingdish_5d58816fa8534b568d8e96cd47a8f413_1_0_2 completed with success=False +[05/26 20:05:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_610: 1 episodes +[05/26 20:05:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:05:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:05:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_610 +[05/26 20:05:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_610 in 2.72s (batch: 2.63s, save: 0.09s) +[05/26 20:05:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_610 +[05/26 20:05:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 610: 0/1 successful episodes +[05/26 20:05:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 658 (index 1/114) +[05/26 20:05:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 658 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:05:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 20:05:35 Worker 0 WARNING object_manager.py:1238] Could not find object objacornermolding_90be9c61b979413b85ab8c572d29fb48_1_0_2 in scene +[05/26 20:05:35 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_2 in scene +Goal: place blue soldering iron next to smooth white ceramic serving bowl +[2026-05-26 20:06:37,369] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:07:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:18:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 658 episode 0 object objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_5 completed with success=False +[05/26 20:18:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_658: 1 episodes +[05/26 20:18:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:18:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:18:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_658 +[05/26 20:18:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_658 in 2.42s (batch: 2.33s, save: 0.09s) +[05/26 20:18:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_658 +[05/26 20:18:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 658: 0/1 successful episodes +[05/26 20:18:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 721 (index 2/114) +[05/26 20:18:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:18:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 20:19:14 Worker 0 WARNING object_manager.py:1238] Could not find object objaantlers_20b890af795b4e31b02f7aa6f8830a4c_1_0_2 in scene +[05/26 20:19:14 Worker 0 WARNING object_manager.py:1238] Could not find object cup_8375d1854544e7fff9c778ce52d47800_1_0_2 in scene +Goal: place vintage microphone with mesh next to wide flat greenish-gold vase +[2026-05-26 20:20:16,486] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:26:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 721 episode 0 object objamicrophone_3d7e9705612d4058982004abc58ffe5d_1_0_6 completed with success=True +[05/26 20:26:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_721: 1 episodes +[05/26 20:26:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 172 timesteps +[05/26 20:26:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:26:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_721 +[05/26 20:26:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_721 in 2.50s (batch: 2.45s, save: 0.05s) +[05/26 20:26:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_721 +[05/26 20:26:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 721: 1/1 successful episodes +[05/26 20:26:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 774 (index 3/114) +[05/26 20:26:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:26:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place stereo system next to brown leather football with laces +[2026-05-26 20:28:02,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:30:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 774 episode 0 object objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_2 completed with success=False +[05/26 20:30:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_774: 1 episodes +[05/26 20:30:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:30:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:30:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_774 +[05/26 20:30:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_774 in 2.84s (batch: 2.75s, save: 0.09s) +[05/26 20:30:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_774 +[05/26 20:30:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 774: 0/1 successful episodes +[05/26 20:30:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 853 (index 4/114) +[05/26 20:30:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:30:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/26 20:30:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place blue spray bottle with nozzle next to glossy red tomato with twisting stem +[2026-05-26 20:31:48,250] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:32:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:46:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 853 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8 completed with success=False +[05/26 20:46:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_853: 1 episodes +[05/26 20:46:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:46:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:46:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_853 +[05/26 20:46:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_853 in 2.41s (batch: 2.31s, save: 0.10s) +[05/26 20:46:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_853 +[05/26 20:46:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 853: 0/1 successful episodes +[05/26 20:46:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 923 (index 5/114) +[05/26 20:46:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:46:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place orange wand next to vintage metal lever on dark wooden base +[2026-05-26 20:47:52,519] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:48:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:59:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 923 episode 0 object objawand_ea36b5fb4fc94e37bde2db99384a1cc6_1_0_2 completed with success=False +[05/26 20:59:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_923: 1 episodes +[05/26 20:59:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:59:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:59:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_923 +[05/26 20:59:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_923 in 2.37s (batch: 2.28s, save: 0.09s) +[05/26 20:59:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_923 +[05/26 20:59:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 923: 0/1 successful episodes +[05/26 20:59:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1016 (index 6/114) +[05/26 20:59:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1016 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 20:59:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place gray stone arrowhead with sharp edges next to small shiny gold dog statue +[2026-05-26 21:00:23,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:10:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 1016 episode 0 object objaarrowhead_e4a837393e164540b04973adf53c10ed_1_0_7 completed with success=False +[05/26 21:10:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1016: 1 episodes +[05/26 21:10:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:10:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:10:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1016 +[05/26 21:10:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1016 in 2.78s (batch: 2.69s, save: 0.09s) +[05/26 21:10:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1016 +[05/26 21:10:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1016: 0/1 successful episodes +[05/26 21:10:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1129 (index 7/114) +[05/26 21:10:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1129 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:10:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place sleek glossy curved plastic frame next to black beanie with green gold pattern +[2026-05-26 21:12:38,257] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:30:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 1129 episode 0 object objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_6 completed with success=False +[05/26 21:30:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1129: 1 episodes +[05/26 21:30:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:30:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:30:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1129 +[05/26 21:30:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1129 in 2.84s (batch: 2.75s, save: 0.09s) +[05/26 21:30:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1129 +[05/26 21:30:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1129: 0/1 successful episodes +[05/26 21:30:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1215 (index 8/114) +[05/26 21:30:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1215 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:30:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place flat handle next to purple bottle +[2026-05-26 21:31:43,433] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:32:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:41:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 1215 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_6 completed with success=False +[05/26 21:41:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1215: 1 episodes +[05/26 21:41:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:41:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:41:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1215 +[05/26 21:41:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1215 in 2.38s (batch: 2.29s, save: 0.09s) +[05/26 21:41:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1215 +[05/26 21:41:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1215: 0/1 successful episodes +[05/26 21:41:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1281 (index 9/114) +[05/26 21:41:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:41:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place olive green hand smoke grenade next to laptop computer +[2026-05-26 21:42:35,298] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:43:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:55:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 1281 episode 0 object objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_7 completed with success=False +[05/26 21:55:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1281: 1 episodes +[05/26 21:55:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:55:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:55:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1281 +[05/26 21:55:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1281 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 21:55:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1281 +[05/26 21:55:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1281: 0/1 successful episodes +[05/26 21:55:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1357 (index 10/114) +[05/26 21:55:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 21:55:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/26 21:55:13 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_57e4a337b9ed97d4bd61cbfd9e2bdfde_1_0_2 in scene +Goal: place black virtual headset next to yellow device +[2026-05-26 21:56:14,652] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:02:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 1357 episode 0 object objavirtualrealityheadset_0d6c1d6aa3f747a5b35f8105ed585418_1_0_3 completed with success=False +[05/26 22:02:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1357: 1 episodes +[05/26 22:02:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:02:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:02:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1357 +[05/26 22:02:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1357 in 2.48s (batch: 2.39s, save: 0.09s) +[05/26 22:02:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1357 +[05/26 22:02:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1357: 0/1 successful episodes +[05/26 22:02:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1421 (index 11/114) +[05/26 22:02:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:02:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place purple flower pot with plant next to dark gray metal shackle with orange pin +[2026-05-26 22:03:34,796] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:04:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:12:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1421 episode 0 object objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6 completed with success=False +[05/26 22:12:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place dark gray metal shackle next to soap bottle +[2026-05-26 22:13:31,562] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:14:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:22:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 1421 episode 1 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False +[05/26 22:22:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1421: 2 episodes +[05/26 22:22:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:22:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:22:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:22:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:22:16 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1421 +[05/26 22:22:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1421 in 5.42s (batch: 5.25s, save: 0.17s) +[05/26 22:22:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1421 +[05/26 22:22:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1421: 0/2 successful episodes +[05/26 22:22:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1440 (index 12/114) +[05/26 22:22:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1440 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:22:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place rustic stone tray next to medium dark metal cooking pot +[2026-05-26 22:23:36,893] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:24:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:42:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 1440 episode 0 object objastonetray_af335dd50e394ba0ab92dd4e4e86954d_1_0_2 completed with success=False +[05/26 22:42:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1440: 1 episodes +[05/26 22:42:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:42:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:42:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1440 +[05/26 22:42:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1440 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 22:42:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1440 +[05/26 22:42:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1440: 0/1 successful episodes +[05/26 22:42:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1598 (index 13/114) +[05/26 22:42:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1598 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:42:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 22:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objadigitalart_57f9e3d9c75d40c6b5cca76e6b94ccbc_2_0_4 in scene +[05/26 22:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene +[05/26 22:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objapettag_e7120b712b424f1d9607347cf5c4147b_1_0_8 in scene +Goal: place red rectangular box of pasta next to soap bottle +[2026-05-26 22:44:22,879] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:44:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:58:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 1598 episode 0 object objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_8 completed with success=False +[05/26 22:58:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1598: 1 episodes +[05/26 22:58:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:58:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:58:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1598 +[05/26 22:58:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1598 in 2.37s (batch: 2.28s, save: 0.09s) +[05/26 22:58:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1598 +[05/26 22:58:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1598: 0/1 successful episodes +[05/26 22:58:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1698 (index 14/114) +[05/26 22:58:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 22:58:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place compact black night vision scope next to smart display device +[2026-05-26 23:00:26,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:01:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:17:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 1698 episode 0 object objanightvisionscope_060a8c828d7a48789fbade22b83a2f15_1_0_6 completed with success=False +[05/26 23:17:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1698: 1 episodes +[05/26 23:17:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:17:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:17:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1698 +[05/26 23:17:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1698 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 23:17:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1698 +[05/26 23:17:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1698: 0/1 successful episodes +[05/26 23:17:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1765 (index 15/114) +[05/26 23:17:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:17:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/26 23:17:36 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_6 in scene +[05/26 23:17:36 Worker 0 WARNING object_manager.py:1238] Could not find object plate_c15e3f7680e3167e2f8d34f3a4bbadaf_1_0_6 in scene +Goal: place wooden pestle with jagged top next to blue rounded pot with handles and straps +[2026-05-26 23:18:39,679] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:19:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:28:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 1765 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_6 completed with success=False +[05/26 23:28:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1765: 1 episodes +[05/26 23:28:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:29:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:29:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1765 +[05/26 23:29:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1765 in 2.72s (batch: 2.63s, save: 0.09s) +[05/26 23:29:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1765 +[05/26 23:29:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1765: 0/1 successful episodes +[05/26 23:29:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1862 (index 16/114) +[05/26 23:29:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1862 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:29:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 23:29:06 Worker 0 WARNING object_manager.py:1238] Could not find object objatube_0f7ec1dcb01d4943972e3a9168f52e8e_1_0_5 in scene +[05/26 23:29:06 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_8f07a87f281343009ff480f8d7e5db83_1_0_9 in scene +[05/26 23:29:06 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_6a037139d50e4150bd30c7e900126779_1_0_9 in scene +Goal: place blue bifold wallet with brown interior next to soap dispenser +[2026-05-26 23:30:08,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:30:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:41:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 1862 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_8 completed with success=False +[05/26 23:41:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1862: 1 episodes +[05/26 23:41:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:41:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:41:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1862 +[05/26 23:41:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1862 in 2.66s (batch: 2.57s, save: 0.09s) +[05/26 23:41:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1862 +[05/26 23:41:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1862: 0/1 successful episodes +[05/26 23:41:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1937 (index 17/114) +[05/26 23:41:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:41:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place tissue paper next to purple spray bottle with white nozzle +[2026-05-26 23:42:49,266] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:43:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:54:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1937 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 completed with success=False +[05/26 23:54:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1937: 1 episodes +[05/26 23:54:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:54:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:54:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1937 +[05/26 23:54:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1937 in 2.67s (batch: 2.59s, save: 0.09s) +[05/26 23:54:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1937 +[05/26 23:54:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1937: 0/1 successful episodes +[05/26 23:54:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2034 (index 18/114) +[05/26 23:54:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2034 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/26 23:54:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place vibrant magenta coil spring on base next to cassetteplayer +[2026-05-26 23:56:02,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:09:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2034 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_3 completed with success=False +[05/27 00:09:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2034: 1 episodes +[05/27 00:09:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:09:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:09:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2034 +[05/27 00:09:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2034 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 00:09:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2034 +[05/27 00:09:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2034: 0/1 successful episodes +[05/27 00:09:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2142 (index 19/114) +[05/27 00:09:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:09:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 00:10:25 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place pointed brass bullet with tip next to gold vintage camera +[2026-05-27 00:11:27,256] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:12:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:27:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 2142 episode 0 object objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_8 completed with success=False +[05/27 00:27:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2142: 1 episodes +[05/27 00:27:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:27:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:27:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2142 +[05/27 00:27:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2142 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 00:27:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2142 +[05/27 00:27:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2142: 0/1 successful episodes +[05/27 00:27:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2245 (index 20/114) +[05/27 00:27:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2245 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:27:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 00:27:46 Worker 0 WARNING object_manager.py:1238] Could not find object apple_8a1c7fb834f6201db020cae968b49bbc_1_0_8 in scene +Goal: place garden hose connector next to thick yellow hardcover book +[2026-05-27 00:28:49,363] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:29:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:42:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 2245 episode 0 object objagardenhoseconnector_bf765bb3a0824d8fb21121f299b44df4_1_0_8 completed with success=False +[05/27 00:43:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2245: 1 episodes +[05/27 00:43:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:43:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:43:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2245 +[05/27 00:43:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2245 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 00:43:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2245 +[05/27 00:43:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2245: 0/1 successful episodes +[05/27 00:43:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2360 (index 21/114) +[05/27 00:43:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2360 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:43:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place paint roller with textured off-white head next to white ceramic vase with subtle ridges +[2026-05-27 00:44:45,538] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:45:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:55:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 2360 episode 0 object objapaintroller_002a355c77774228b15db50d77d0e002_1_0_6 completed with success=False +[05/27 00:55:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2360: 1 episodes +[05/27 00:55:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:55:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:55:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2360 +[05/27 00:55:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2360 in 2.41s (batch: 2.31s, save: 0.09s) +[05/27 00:55:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2360 +[05/27 00:55:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2360: 0/1 successful episodes +[05/27 00:55:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2465 (index 22/114) +[05/27 00:55:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 00:55:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/27 00:55:54 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_1e4728cf567cf815d1bc4e37bc564bdc_1_0_2 in scene +Goal: place medium smooth red apple next to crumpled white plastic bag with stains +[2026-05-27 00:56:56,947] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:57:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:04:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 2465 episode 0 object apple_8a1c7fb834f6201db020cae968b49bbc_1_0_2 completed with success=False +[05/27 01:04:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2465: 1 episodes +[05/27 01:04:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:04:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:04:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2465 +[05/27 01:04:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2465 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 01:04:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2465 +[05/27 01:04:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2465: 0/1 successful episodes +[05/27 01:04:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2502 (index 23/114) +[05/27 01:04:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:04:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 01:04:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaplushtoy_f08a0ca0ca13418fa5dec0b11df9cb82_1_0_3 in scene +[05/27 01:04:53 Worker 0 WARNING object_manager.py:1238] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_3 in scene +Goal: place old-fashioned metal pencil sharpener next to round brown bread loaf domed +[2026-05-27 01:05:57,055] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:20:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 2502 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_2 completed with success=False +[05/27 01:20:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2502: 1 episodes +[05/27 01:20:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:20:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:20:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2502 +[05/27 01:20:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2502 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 01:20:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2502 +[05/27 01:20:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2502: 0/1 successful episodes +[05/27 01:20:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2638 (index 24/114) +[05/27 01:20:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2638 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:20:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place purple plastic spray bottle with trigger next to blue toaster with two slots +[2026-05-27 01:22:13,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:25:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 2638 episode 0 object atomizer_834d386e080077accc22e6eae5471528_1_0_6 completed with success=False +[05/27 01:26:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2638: 1 episodes +[05/27 01:26:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:26:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:26:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2638 +[05/27 01:26:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2638 in 2.45s (batch: 2.35s, save: 0.09s) +[05/27 01:26:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2638 +[05/27 01:26:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2638: 0/1 successful episodes +[05/27 01:26:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2775 (index 25/114) +[05/27 01:26:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:26:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place oblong brown potato with blemishes next to antique cannon model +[2026-05-27 01:27:09,753] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:34:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2775 episode 0 object objapotato_77c957c8e7054cf4909472bfdaa04328_1_0_2 completed with success=False +[05/27 01:34:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2775: 1 episodes +[05/27 01:34:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:34:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:34:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2775 +[05/27 01:34:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2775 in 2.71s (batch: 2.61s, save: 0.10s) +[05/27 01:34:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2775 +[05/27 01:34:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2775: 0/1 successful episodes +[05/27 01:34:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2853 (index 26/114) +[05/27 01:34:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:34:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place wooden paddle with black decorative rectangles next to laptop computer +[2026-05-27 01:37:01,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:54:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2853 episode 0 object objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_8 completed with success=False +[05/27 01:54:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2853: 1 episodes +[05/27 01:54:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:54:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:54:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2853 +[05/27 01:54:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2853 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 01:54:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2853 +[05/27 01:54:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2853: 0/1 successful episodes +[05/27 01:54:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2948 (index 27/114) +[05/27 01:54:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2948 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 01:54:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place deer bust with red collar next to yellow handled kitchen knife +[2026-05-27 01:58:10,000] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:58:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:06:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 2948 episode 0 object objadecorativebust_5a6e5b23243d41a2a5cec0e259c56ba3_1_0_6 completed with success=False +[05/27 02:06:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2948: 1 episodes +[05/27 02:06:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:06:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:06:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2948 +[05/27 02:06:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2948 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 02:06:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2948 +[05/27 02:06:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2948: 0/1 successful episodes +[05/27 02:06:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3052 (index 28/114) +[05/27 02:06:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3052 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:06:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 02:06:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene +Goal: place black spray paint can next to olive scalloped ceramic plate +[2026-05-27 02:07:59,321] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:08:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:19:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 3052 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_7 completed with success=False +[05/27 02:19:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3052: 1 episodes +[05/27 02:19:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:19:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:19:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3052 +[05/27 02:19:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3052 in 2.44s (batch: 2.34s, save: 0.09s) +[05/27 02:19:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3052 +[05/27 02:19:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3052: 0/1 successful episodes +[05/27 02:19:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3190 (index 29/114) +[05/27 02:19:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:19:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place futuristic device next to blue soap bottle +[2026-05-27 02:20:44,991] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:21:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:32:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 3190 episode 0 object objaappliance_a295613096c54e6e9c898469e8afc236_1_0_6 completed with success=False +[05/27 02:32:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3190: 1 episodes +[05/27 02:32:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:32:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:32:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3190 +[05/27 02:32:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3190 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 02:32:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3190 +[05/27 02:32:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3190: 0/1 successful episodes +[05/27 02:32:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3247 (index 30/114) +[05/27 02:32:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:32:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 02:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 02:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +Goal: place rectangular metal plate mount next to gray butterfly with geometric patterns +[2026-05-27 02:34:18,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:44:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 3247 episode 0 object objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2 completed with success=False +[05/27 02:44:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3247: 1 episodes +[05/27 02:44:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:44:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:44:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3247 +[05/27 02:44:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3247 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 02:44:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3247 +[05/27 02:44:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3247: 0/1 successful episodes +[05/27 02:44:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3284 (index 31/114) +[05/27 02:44:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3284 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 02:44:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/61 [00:00 does not support tracking retries. +Goal: place glossy deep red arrow sign next to bulbous shiny gold metallic vase +[2026-05-27 02:46:12,435] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:46:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:05:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 3284 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_2 completed with success=False +[05/27 03:05:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3284: 1 episodes +[05/27 03:05:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:05:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:05:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3284 +[05/27 03:05:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3284 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 03:05:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3284 +[05/27 03:05:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3284: 0/1 successful episodes +[05/27 03:05:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3373 (index 32/114) +[05/27 03:05:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3373 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:05:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place vintage desk calendar with handle next to dark gray laptop with keyboard +[2026-05-27 03:06:54,072] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:07:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:08:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3373 episode 0 object objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_2 completed with success=True +[05/27 03:08:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3373: 1 episodes +[05/27 03:08:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/27 03:08:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:08:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3373 +[05/27 03:08:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3373 in 2.45s (batch: 2.43s, save: 0.03s) +[05/27 03:08:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3373 +[05/27 03:08:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3373: 1/1 successful episodes +[05/27 03:08:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3420 (index 33/114) +[05/27 03:08:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:08:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 03:08:21 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene +Goal: place curled vintage ribbon with text next to small dark brown potato +[2026-05-27 03:09:25,770] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:09:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:23:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3420 episode 0 object objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_2 completed with success=False +[05/27 03:23:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3420: 1 episodes +[05/27 03:23:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:23:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:23:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3420 +[05/27 03:23:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3420 in 2.51s (batch: 2.41s, save: 0.10s) +[05/27 03:23:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3420 +[05/27 03:23:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3420: 0/1 successful episodes +[05/27 03:23:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3515 (index 34/114) +[05/27 03:23:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:23:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place transceiver next to weathered metallic electrical box with handle +[2026-05-27 03:24:47,191] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:25:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:32:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3515 episode 0 object objanetworkdevice_224e056b02a040039f7c4a9b141e25e5_1_0_2 completed with success=False +[05/27 03:32:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3515: 1 episodes +[05/27 03:32:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:32:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:32:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3515 +[05/27 03:32:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3515 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 03:33:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3515 +[05/27 03:33:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3515: 0/1 successful episodes +[05/27 03:33:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3626 (index 35/114) +[05/27 03:33:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3626 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:33:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place teal cordless grinder next to house plant +[2026-05-27 03:34:16,907] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:34:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:47:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 3626 episode 0 object objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_4 completed with success=False +[05/27 03:47:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3626: 1 episodes +[05/27 03:47:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:47:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:47:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3626 +[05/27 03:47:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3626 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 03:47:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3626 +[05/27 03:47:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3626: 0/1 successful episodes +[05/27 03:47:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3721 (index 36/114) +[05/27 03:47:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 03:47:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 03:47:42 Worker 0 WARNING object_manager.py:1238] Could not find object objagymladder_15cc0301b4ba494895eff8aa74c1fb7f_1_0_4 in scene +Goal: place striped teacup next to smooth red apple +[2026-05-27 03:48:45,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:08:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 3721 episode 0 object objateacup_8f63a888a2c3473eabef51c650c82b45_1_0_2 completed with success=False +[05/27 04:08:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3721: 1 episodes +[05/27 04:08:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:08:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:08:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3721 +[05/27 04:08:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3721 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 04:08:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3721 +[05/27 04:08:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3721: 0/1 successful episodes +[05/27 04:08:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3763 (index 37/114) +[05/27 04:08:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:08:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place photographic camera next to bulbous shiny gold metallic vase +[2026-05-27 04:09:49,858] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:10:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:21:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 3763 episode 0 object objacamera_6932f08350dc47179ec8dd1ac0d18ce8_1_0_6 completed with success=False +[05/27 04:21:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3763: 1 episodes +[05/27 04:21:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:21:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3763 +[05/27 04:21:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3763 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 04:21:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3763 +[05/27 04:21:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3763: 0/1 successful episodes +[05/27 04:21:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3908 (index 38/114) +[05/27 04:21:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3908 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:21:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[05/27 04:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_e3b5326e94c441f59d9833835a01a6f7_1_0_2 in scene +[05/27 04:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_2 in scene +Goal: place green and white athletic shoe next to guitar effects pedal +[2026-05-27 04:22:32,671] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:23:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:28:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 3908 episode 0 object objaathleticshoe_f13de6ea58204192ab4250342bd69aac_1_0_2 completed with success=False +[05/27 04:28:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3908: 1 episodes +[05/27 04:28:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:28:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:28:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3908 +[05/27 04:28:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3908 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 04:28:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3908 +[05/27 04:28:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3908: 0/1 successful episodes +[05/27 04:28:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4019 (index 39/114) +[05/27 04:28:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:28:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place dark gray cylindrical metal coil spring next to instrumentation +[2026-05-27 04:29:21,516] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:41:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4019 episode 0 object objaspring_3071830f2d3e4b57a59976719298c808_1_0_7 completed with success=False +[05/27 04:41:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place instrumentation next to dark gray cylindrical metal coil spring +[2026-05-27 04:42:15,538] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:54:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4019 episode 1 object objahandhelddevice_fd9fdf81ab624a66897bbd8ac299e26f_1_0_7 completed with success=False +[05/27 04:54:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4019: 2 episodes +[05/27 04:54:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:54:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:54:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:54:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:54:09 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4019 +[05/27 04:54:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4019 in 5.51s (batch: 5.35s, save: 0.17s) +[05/27 04:54:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4019 +[05/27 04:54:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4019: 0/2 successful episodes +[05/27 04:54:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4030 (index 40/114) +[05/27 04:54:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 04:54:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place rectangular metallic effects pedal next to gray dispenser with metallic tip +[2026-05-27 04:55:18,570] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:11:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4030 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 completed with success=False +[05/27 05:11:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4030: 1 episodes +[05/27 05:11:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:11:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:11:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4030 +[05/27 05:11:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4030 in 2.70s (batch: 2.62s, save: 0.09s) +[05/27 05:11:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4030 +[05/27 05:11:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4030: 0/1 successful episodes +[05/27 05:11:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4132 (index 41/114) +[05/27 05:11:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:11:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place black capsule next to voxel gray medieval cannon +[2026-05-27 05:12:20,140] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:12:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:24:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 4132 episode 0 object objacapsule_870611a797c1472197872d137247a094_1_0_8 completed with success=False +[05/27 05:24:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4132: 1 episodes +[05/27 05:24:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:24:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:24:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4132 +[05/27 05:24:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4132 in 2.35s (batch: 2.26s, save: 0.09s) +[05/27 05:24:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4132 +[05/27 05:24:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4132: 0/1 successful episodes +[05/27 05:24:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4200 (index 42/114) +[05/27 05:24:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:24:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place rectangular metal plate mount next to curved off-white jawbone with teeth +[2026-05-27 05:25:22,567] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:25:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:31:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4200 episode 0 object objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2 completed with success=False +[05/27 05:31:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4200: 1 episodes +[05/27 05:31:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:31:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:31:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4200 +[05/27 05:31:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4200 in 2.76s (batch: 2.66s, save: 0.09s) +[05/27 05:31:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4200 +[05/27 05:31:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4200: 0/1 successful episodes +[05/27 05:31:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4273 (index 43/114) +[05/27 05:31:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:31:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place metal hinge next to tall copper cup with ridges +[2026-05-27 05:32:29,867] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:33:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:38:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4273 episode 0 object objahinge_4587c40e36704e7a96ffebad95028160_1_0_2 completed with success=False +[05/27 05:38:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4273: 1 episodes +[05/27 05:38:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:38:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:38:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4273 +[05/27 05:38:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4273 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 05:38:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4273 +[05/27 05:38:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4273: 0/1 successful episodes +[05/27 05:38:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4320 (index 44/114) +[05/27 05:38:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:38:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +Goal: place bold multicolored eyeglasses with rectangular openings next to open brown cardboard storage box +[2026-05-27 05:39:29,983] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:40:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:45:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4320 episode 0 object objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_2 completed with success=False +[05/27 05:45:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4320: 1 episodes +[05/27 05:45:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:45:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:45:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4320 +[05/27 05:45:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4320 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 05:45:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4320 +[05/27 05:45:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4320: 0/1 successful episodes +[05/27 05:45:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4396 (index 45/114) +[05/27 05:45:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 05:45:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 05:45:59 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_4 in scene +[05/27 05:45:59 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_4 in scene +Goal: place black metal locking pliers next to smooth medium red apple +[2026-05-27 05:47:02,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:47:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:59:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4396 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False +[05/27 05:59:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4396: 1 episodes +[05/27 05:59:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:59:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:59:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4396 +[05/27 05:59:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4396 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 06:00:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4396 +[05/27 06:00:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4396: 0/1 successful episodes +[05/27 06:00:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4480 (index 46/114) +[05/27 06:00:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:00:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place sharpeningsteel next to gray pigeon with spread wings +[2026-05-27 06:01:19,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:17:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4480 episode 0 object objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_7 completed with success=False +[05/27 06:17:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4480: 1 episodes +[05/27 06:17:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:17:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:17:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4480 +[05/27 06:17:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4480 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 06:17:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4480 +[05/27 06:17:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4480: 0/1 successful episodes +[05/27 06:17:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4584 (index 47/114) +[05/27 06:17:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4584 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:17:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 06:17:13 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_5 in scene +Goal: place dark metal container with aged label next to decorative yellow striped fish +[2026-05-27 06:18:17,565] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:18:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:30:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 4584 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6 completed with success=False +[05/27 06:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4584: 1 episodes +[05/27 06:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:30:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:30:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4584 +[05/27 06:30:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4584 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 06:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4584 +[05/27 06:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4584: 0/1 successful episodes +[05/27 06:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4662 (index 48/114) +[05/27 06:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:30:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place pink scepter with wings and gold next to shiny smooth red apple +[2026-05-27 06:31:28,791] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:32:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:48:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4662 episode 0 object objascepter_4efafd930f154d6a99ec9818d0f3a66a_1_0_2 completed with success=False +[05/27 06:48:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4662: 1 episodes +[05/27 06:48:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:48:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:48:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4662 +[05/27 06:48:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4662 in 2.80s (batch: 2.72s, save: 0.09s) +[05/27 06:48:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4662 +[05/27 06:48:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4662: 0/1 successful episodes +[05/27 06:48:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4706 (index 49/114) +[05/27 06:48:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4706 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 06:48:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_4 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_7 in scene +[05/27 06:48:38 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene +Goal: place triangular white sandwich next to rectangular transparent soap bottle +[2026-05-27 06:49:41,379] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:50:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:00:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4706 episode 0 object objasandwich_8e8b342613f0477182ec8586876291cf_1_0_8 completed with success=False +[05/27 07:00:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4706: 1 episodes +[05/27 07:00:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:00:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:00:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4706 +[05/27 07:00:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4706 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 07:00:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4706 +[05/27 07:00:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4706: 0/1 successful episodes +[05/27 07:00:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4774 (index 50/114) +[05/27 07:00:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:00:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 07:01:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/27 07:01:00 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene +Goal: place orange envelope with currency seal next to pear-shaped beige ceramic hanging weight +[2026-05-27 07:02:03,810] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:02:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:12:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4774 episode 0 object objaenvelope_321bc258ef67468cbc2377bb48782f4a_1_0_6 completed with success=False +[05/27 07:12:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4774: 1 episodes +[05/27 07:12:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:12:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:12:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4774 +[05/27 07:12:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4774 in 2.72s (batch: 2.61s, save: 0.11s) +[05/27 07:12:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4774 +[05/27 07:12:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4774: 0/1 successful episodes +[05/27 07:12:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4867 (index 51/114) +[05/27 07:12:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:12:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 07:12:57 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/27 07:12:57 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place pink card with bow and flowers next to large winged fierce dragon model +[2026-05-27 07:14:00,918] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:14:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:29:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4867 episode 0 object objadecorativecard_55b595711d0e4b0f894d1ce1f6b1f050_1_0_2 completed with success=False +[05/27 07:29:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4867: 1 episodes +[05/27 07:29:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:30:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:30:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4867 +[05/27 07:30:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4867 in 2.46s (batch: 2.36s, save: 0.10s) +[05/27 07:30:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4867 +[05/27 07:30:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4867: 0/1 successful episodes +[05/27 07:30:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4939 (index 52/114) +[05/27 07:30:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:30:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_3374ae9c1eda0e38f47bce321c360e2d_1_0_4 in scene +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/27 07:30:07 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place cellphone next to breadstuff +[2026-05-27 07:31:10,920] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:46:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4939 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8 completed with success=False +[05/27 07:46:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4939: 1 episodes +[05/27 07:46:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:46:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:46:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4939 +[05/27 07:46:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4939 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 07:46:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4939 +[05/27 07:46:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4939: 0/1 successful episodes +[05/27 07:46:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5038 (index 53/114) +[05/27 07:46:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5038 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 07:46:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place translucent blue capsule next to smooth yellow apple with stem +[2026-05-27 07:47:33,323] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:48:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:02:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5038 episode 0 object objacapsule_5ff3a5a3cef64439905910e86d37ec57_1_0_2 completed with success=False +[05/27 08:02:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5038: 1 episodes +[05/27 08:02:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:02:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:02:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5038 +[05/27 08:02:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5038 in 2.93s (batch: 2.84s, save: 0.09s) +[05/27 08:02:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5038 +[05/27 08:02:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5038: 0/1 successful episodes +[05/27 08:02:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5131 (index 54/114) +[05/27 08:02:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5131 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:02:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 08:02:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturehouse_11ed0808fff74f6b8c5a3548743b0b03_1_0_5 in scene +[05/27 08:02:30 Worker 0 WARNING object_manager.py:1238] Could not find object objatorch_e88c4214d4bc4437ae6d249237591071_1_0_5 in scene +Goal: place gray triangular rugged stone tool next to ornate golden mirror with purple surface +[2026-05-27 08:03:32,826] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:04:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:20:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5131 episode 0 object objastonetool_98c2763ae351483da79dc4da9b3dc043_1_0_3 completed with success=False +[05/27 08:20:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5131: 1 episodes +[05/27 08:20:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:20:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:20:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5131 +[05/27 08:20:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5131 in 2.78s (batch: 2.68s, save: 0.09s) +[05/27 08:20:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5131 +[05/27 08:20:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5131: 0/1 successful episodes +[05/27 08:20:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5193 (index 55/114) +[05/27 08:20:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5193 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:20:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 08:20:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepiece_46e9d39e5a084c57b909c443e3b4fbf8_1_0_3 in scene +[05/27 08:20:50 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_4a51b9da92477e478b1a5867575dc6a1_1_0_3 in scene +Goal: place aerosol bomb next to blue spray bottle +[2026-05-27 08:21:52,821] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:22:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:38:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5193 episode 0 object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_2 completed with success=False +[05/27 08:38:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5193: 1 episodes +[05/27 08:38:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5193 +[05/27 08:38:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5193 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 08:38:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5193 +[05/27 08:38:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5193: 0/1 successful episodes +[05/27 08:38:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5319 (index 56/114) +[05/27 08:38:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:38:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_2_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objanaturalsponge_9a1d1f335f274039bf791192c39dcc7b_1_0_9 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_fdf53823d30f4fed9a5423d6b6cbfad1_1_0_9 in scene +[05/27 08:39:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_9 in scene +Goal: place red and white can next to smooth rounded ceramic bowl with rim +[2026-05-27 08:40:05,641] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:42:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5319 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_2 completed with success=False +[05/27 08:42:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5319: 1 episodes +[05/27 08:42:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:42:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:42:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5319 +[05/27 08:42:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5319 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 08:42:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5319 +[05/27 08:42:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5319: 0/1 successful episodes +[05/27 08:42:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5449 (index 57/114) +[05/27 08:42:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5449 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:42:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place square blue plate next to vintage green military radio with handle +[2026-05-27 08:43:53,835] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:44:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:55:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5449 episode 0 object plate_838def382388bb29da57a8cddc03b072_1_0_6 completed with success=False +[05/27 08:55:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5449: 1 episodes +[05/27 08:55:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:55:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:55:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5449 +[05/27 08:55:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5449 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 08:55:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5449 +[05/27 08:55:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5449: 0/1 successful episodes +[05/27 08:55:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5539 (index 58/114) +[05/27 08:55:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5539 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 08:55:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place circular disc with colorful front design next to bulbous shiny gold vase +[2026-05-27 08:56:28,210] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:57:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:05:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5539 episode 0 object objadecorativetag_a6fc2443c6b3422f89fd166776b15e41_1_0_2 completed with success=False +[05/27 09:05:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5539: 1 episodes +[05/27 09:05:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:05:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:05:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5539 +[05/27 09:05:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5539 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:05:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5539 +[05/27 09:05:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5539: 0/1 successful episodes +[05/27 09:05:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5599 (index 59/114) +[05/27 09:05:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:05:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaleafsculpture_291ecf00a4cd46c085e48aeff1ecd473_1_0_6 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebow_2c1c2d60cc4b42759400891f80414411_1_0_7 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_7 in scene +[05/27 09:05:51 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_7 in scene +Goal: place blue emblem with metallic a and text next to cream candle in blue holder +[2026-05-27 09:06:54,594] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:19:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 5599 episode 0 object objadecorativeemblem_dc44a9d16aaa4b61addce2a8480f54f6_1_0_5 completed with success=False +[05/27 09:19:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5599: 1 episodes +[05/27 09:19:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:19:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:19:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5599 +[05/27 09:19:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5599 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:19:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5599 +[05/27 09:19:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5599: 0/1 successful episodes +[05/27 09:19:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5654 (index 60/114) +[05/27 09:19:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:19:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place dark gemstone next to smooth shallow light brown bowl +[2026-05-27 09:20:44,433] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:21:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:37:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 5654 episode 0 object objagemstone_175e4e432e6f4304af73c7fff56be773_1_0_2 completed with success=False +[05/27 09:37:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5654: 1 episodes +[05/27 09:37:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:37:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:37:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5654 +[05/27 09:37:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5654 in 2.41s (batch: 2.31s, save: 0.10s) +[05/27 09:37:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5654 +[05/27 09:37:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5654: 0/1 successful episodes +[05/27 09:37:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5758 (index 61/114) +[05/27 09:37:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5758 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:37:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place green gemstone next to matte dark gray bowl +[2026-05-27 09:39:26,482] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:39:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:51:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5758 episode 0 object objagemstone_3a9d89ec0d6642ee8a8fc42a1361c701_1_0_9 completed with success=False +[05/27 09:51:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5758: 1 episodes +[05/27 09:51:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:51:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:51:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5758 +[05/27 09:51:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5758 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 09:51:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5758 +[05/27 09:51:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5758: 0/1 successful episodes +[05/27 09:51:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5880 (index 62/114) +[05/27 09:51:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 09:51:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 09:52:09 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_3 in scene +[05/27 09:52:09 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_3 in scene +Goal: place blue rectangular alarm clock with knob next to iridescent translucent blue star ornament +[2026-05-27 09:53:12,938] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:06:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 5880 episode 0 object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_5 completed with success=False +[05/27 10:06:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5880: 1 episodes +[05/27 10:06:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:06:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:06:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5880 +[05/27 10:06:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5880 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 10:06:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5880 +[05/27 10:06:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5880: 0/1 successful episodes +[05/27 10:06:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5915 (index 63/114) +[05/27 10:06:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 10:06:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place storage device next to ornate vintage brass bell +[2026-05-27 10:08:16,644] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:23:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5915 episode 0 object objaminidvtape_8ce4607326784eda8675e3bcfb11ff6f_1_0_8 completed with success=False +[05/27 10:23:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5915: 1 episodes +[05/27 10:23:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:23:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:23:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5915 +[05/27 10:23:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5915 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 10:23:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5915 +[05/27 10:23:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5915: 0/1 successful episodes +[05/27 10:23:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6030 (index 64/114) +[05/27 10:23:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 10:23:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place slender wooden needle with hole next to handheld drill +[2026-05-27 10:24:55,227] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:34:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 6030 episode 0 object objaneedle_9abd71cdbfbd4af8a900b0fb4b3f2d70_1_0_7 completed with success=False +[05/27 10:34:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6030: 1 episodes +[05/27 10:34:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:34:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:34:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6030 +[05/27 10:34:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6030 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 10:34:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6030 +[05/27 10:34:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6030: 0/1 successful episodes +[05/27 10:34:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6072 (index 65/114) +[05/27 10:34:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6072 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 10:34:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 10:34:58 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +[05/27 10:34:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_2d786307e3f14da89e0056b8675f340f_1_0_5 in scene +Goal: place vintage metal drafting compass with handle next to black gas mask with cross symbol +[2026-05-27 10:36:02,006] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:36:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:50:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6072 episode 0 object objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_4 completed with success=False +[05/27 10:50:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 10:50:53 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +[05/27 10:50:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_2d786307e3f14da89e0056b8675f340f_1_0_5 in scene +Goal: place crumpled silver metallic foil next to switch plate +[2026-05-27 10:51:56,967] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:52:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:06:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 6072 episode 1 object objafoil_67f6e895f5f34572afc152008228d819_1_0_7 completed with success=False +[05/27 11:06:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6072: 2 episodes +[05/27 11:06:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:06:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:07:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:07:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:07:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6072 +[05/27 11:07:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6072 in 5.04s (batch: 4.87s, save: 0.17s) +[05/27 11:07:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6072 +[05/27 11:07:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6072: 0/2 successful episodes +[05/27 11:07:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6102 (index 66/114) +[05/27 11:07:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:07:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 11:07:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadog_8e613ab54ccb486c80a5042e8ff7424c_1_0_6 in scene +[05/27 11:07:27 Worker 0 WARNING object_manager.py:1238] Could not find object vase_5e3958a310670d88fd4347b82c234dda_1_0_6 in scene +Goal: place small green artificial aloe plant next to translucent plastic ergonomic spray bottle +[2026-05-27 11:08:29,673] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:09:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:26:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 6102 episode 0 object objaartificialplant_23ce2fda23bb4e68a289675be2ce511e_1_0_2 completed with success=False +[05/27 11:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6102: 1 episodes +[05/27 11:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:27:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:27:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6102 +[05/27 11:27:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6102 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 11:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6102 +[05/27 11:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6102: 0/1 successful episodes +[05/27 11:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6199 (index 67/114) +[05/27 11:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6199 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place fresh ginger root with colorful shoots next to rectangular red metal toaster with controls +[2026-05-27 11:28:19,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:28:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:35:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 6199 episode 0 object objagingerroot_302be40cdf08485aac1111f39e70dbd0_2_0_2 completed with success=False +[05/27 11:35:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6199: 1 episodes +[05/27 11:35:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:35:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:35:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6199 +[05/27 11:35:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6199 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 11:35:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6199 +[05/27 11:35:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6199: 0/1 successful episodes +[05/27 11:35:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6252 (index 68/114) +[05/27 11:35:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6252 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:35:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place yellow handheld gps next to round loaf with brown crust +[2026-05-27 11:37:03,825] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:37:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:46:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 6252 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_6 completed with success=False +[05/27 11:47:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6252: 1 episodes +[05/27 11:47:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:47:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:47:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6252 +[05/27 11:47:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6252 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 11:47:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6252 +[05/27 11:47:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6252: 0/1 successful episodes +[05/27 11:47:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6298 (index 69/114) +[05/27 11:47:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:47:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place terracotta owl vessel with spout next to blue toy monster truck +[2026-05-27 11:48:15,572] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:48:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:51:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 6298 episode 0 object objavessel_8bd6e267f265481682e17f696b201103_1_0_6 completed with success=True +[05/27 11:51:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6298: 1 episodes +[05/27 11:51:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 118 timesteps +[05/27 11:51:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:51:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6298 +[05/27 11:51:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6298 in 2.33s (batch: 2.29s, save: 0.04s) +[05/27 11:51:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6298 +[05/27 11:51:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6298: 1/1 successful episodes +[05/27 11:51:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6382 (index 70/114) +[05/27 11:51:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 11:51:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 11:51:47 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_5 in scene +[05/27 11:51:47 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6 in scene +Goal: place stylized blue fish with yellow fins next to fresh green spherical head lettuce +[2026-05-27 11:52:51,114] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:53:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:09:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6382 episode 0 object objatoyfish_ce9b4915b37042308e4e6dadbcf91087_1_0_2 completed with success=False +[05/27 12:09:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6382: 1 episodes +[05/27 12:09:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:09:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:09:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6382 +[05/27 12:09:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6382 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 12:09:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6382 +[05/27 12:09:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6382: 0/1 successful episodes +[05/27 12:09:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6438 (index 71/114) +[05/27 12:09:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6438 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 12:09:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 12:10:09 Worker 0 WARNING object_manager.py:1238] Could not find object objagardentrowel_f4d44155b3c04a0aaedd5c90428d52e3_1_0_8 in scene +[05/27 12:10:09 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_8 in scene +Goal: place hand tool next to chunky pink and white knitted beanie +[2026-05-27 12:11:13,443] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:30:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 6438 episode 0 object objaawl_a001d9c9ea68400d9e57893975d3d39d_1_0_7 completed with success=False +[05/27 12:30:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6438: 1 episodes +[05/27 12:30:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:30:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:30:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6438 +[05/27 12:30:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6438 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 12:30:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6438 +[05/27 12:30:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6438: 0/1 successful episodes +[05/27 12:30:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6538 (index 72/114) +[05/27 12:30:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6538 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 12:30:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/61 [00:00 does not support tracking retries. +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_7 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyjet_df89e1dd4ea349ee9290de90ae4bef05_1_0_7 in scene +[05/27 12:30:46 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_9 in scene +Goal: place elongated rough dried fish next to tall dark cup +[2026-05-27 12:31:49,348] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:50:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6538 episode 0 object objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_2_0_2 completed with success=False +[05/27 12:50:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6538: 1 episodes +[05/27 12:50:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:50:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:50:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6538 +[05/27 12:50:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6538 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 12:50:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6538 +[05/27 12:50:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6538: 0/1 successful episodes +[05/27 12:50:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6696 (index 73/114) +[05/27 12:50:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6696 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 12:50:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place white stand with flag next to white analog stopwatch +[2026-05-27 12:52:15,794] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:04:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 6696 episode 0 object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_3 completed with success=False +[05/27 13:04:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6696: 1 episodes +[05/27 13:04:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:04:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:04:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6696 +[05/27 13:04:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6696 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 13:04:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6696 +[05/27 13:04:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6696: 0/1 successful episodes +[05/27 13:04:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6758 (index 74/114) +[05/27 13:04:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6758 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:04:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place shiny metallic coil spring cylinder next to sleek adjustable black silver arm +[2026-05-27 13:06:02,997] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:06:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:18:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 6758 episode 0 object objacoilspring_bff10a4e7bb14d6f860f861f54134543_1_0_7 completed with success=False +[05/27 13:18:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6758: 1 episodes +[05/27 13:18:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:18:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:18:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6758 +[05/27 13:18:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6758 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 13:18:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6758 +[05/27 13:18:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6758: 0/1 successful episodes +[05/27 13:18:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6883 (index 75/114) +[05/27 13:18:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6883 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:18:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 13:19:06 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_8 in scene +[05/27 13:19:06 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_8 in scene +Goal: place promotional sign next to soapdispenser +[2026-05-27 13:20:08,932] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:20:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:24:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 6883 episode 0 object objasign_391b2617850d489e8e717d00c24eada6_1_0_8 completed with success=False +[05/27 13:24:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6883: 1 episodes +[05/27 13:24:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:24:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:24:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6883 +[05/27 13:24:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6883 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 13:24:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6883 +[05/27 13:24:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6883: 0/1 successful episodes +[05/27 13:24:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6937 (index 76/114) +[05/27 13:24:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:24:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place jagged white marble piece with veins next to green hardcover book titled the effective engineer +[2026-05-27 13:26:08,385] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:40:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 6937 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False +[05/27 13:40:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6937: 1 episodes +[05/27 13:40:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:40:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:40:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6937 +[05/27 13:40:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6937 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 13:40:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6937 +[05/27 13:40:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6937: 0/1 successful episodes +[05/27 13:40:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7012 (index 77/114) +[05/27 13:40:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7012 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:40:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objawindmillmodel_15999570dd354b0d85d17501a7bd7d8f_1_0_4 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaexplosivedevice_8a7070ce4ec14f0c821f620ae171fd20_1_0_4 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_ed06160ef39c4275ac61b389908ec05f_1_0_5 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_84c1fb3b7b2d41c5883350e73ceade92_1_0_5 in scene +[05/27 13:41:03 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_7 in scene +Goal: place round ceramic plate with floral pattern next to golden brown artisanal loaf of bread +[2026-05-27 13:42:07,969] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:59:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 7012 episode 0 object objaceramicplate_3b15c410f87f42daa7e8cb5b5f74e3f1_1_0_2 completed with success=False +[05/27 13:59:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7012: 1 episodes +[05/27 13:59:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:59:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:59:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7012 +[05/27 13:59:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7012 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 13:59:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7012 +[05/27 13:59:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7012: 0/1 successful episodes +[05/27 13:59:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7066 (index 78/114) +[05/27 13:59:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7066 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 13:59:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 14:00:28 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_3 in scene +[05/27 14:00:28 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_3 in scene +Goal: place shallow metal pot next to white ceramic bowl +[2026-05-27 14:01:32,532] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:02:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:15:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7066 episode 0 object pot_e212d04be87cc98b4a5251ccfd9e1819_1_0_2 completed with success=False +[05/27 14:15:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7066: 1 episodes +[05/27 14:15:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:15:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:15:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7066 +[05/27 14:15:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7066 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 14:15:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7066 +[05/27 14:15:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7066: 0/1 successful episodes +[05/27 14:15:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7163 (index 79/114) +[05/27 14:15:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 14:15:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 14:15:56 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_8fc797d63d574f8db310de3b657a41b5_1_0_5 in scene +[05/27 14:15:56 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene +Goal: place smooth elongated green cucumber next to brown goblet +[2026-05-27 14:16:59,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:17:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:27:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 7163 episode 0 object objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_6 completed with success=False +[05/27 14:28:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7163: 1 episodes +[05/27 14:28:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:28:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:28:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7163 +[05/27 14:28:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7163 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 14:28:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7163 +[05/27 14:28:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7163: 0/1 successful episodes +[05/27 14:28:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7272 (index 80/114) +[05/27 14:28:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7272 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 14:28:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place adhesive tape next to conical soap bottle with pump +[2026-05-27 14:29:12,130] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:29:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:41:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7272 episode 0 object objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8 completed with success=False +[05/27 14:42:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7272: 1 episodes +[05/27 14:42:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:42:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:42:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7272 +[05/27 14:42:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7272 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 14:42:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7272 +[05/27 14:42:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7272: 0/1 successful episodes +[05/27 14:42:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7338 (index 81/114) +[05/27 14:42:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7338 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 14:42:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objahand_aaa3268584ea48618d88b22cf67505f0_1_0_3 in scene +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objastatue_bacc951f013645dab41c56e54a0c5930_1_0_3 in scene +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objacarmodel_03c68480c9c34174826f836b6c95c27e_1_0_4 in scene +[05/27 14:42:48 Worker 0 WARNING object_manager.py:1238] Could not find object objatoothpastebox_7aa9002b63e9405e81d9985790acde36_1_0_4 in scene +Goal: place small dark egyptian figure statuette next to crockery +[2026-05-27 14:43:53,184] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:01:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 7338 episode 0 object objastatuette_b8fac4517e6b49498fec5e800adc6fcb_1_0_3 completed with success=False +[05/27 15:01:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7338: 1 episodes +[05/27 15:01:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:01:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:01:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7338 +[05/27 15:01:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7338 in 2.37s (batch: 2.29s, save: 0.09s) +[05/27 15:01:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7338 +[05/27 15:01:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7338: 0/1 successful episodes +[05/27 15:01:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7375 (index 82/114) +[05/27 15:01:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:01:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 15:01:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place purple flower pot with plant next to blue soap bottle with orange pump +[2026-05-27 15:02:25,371] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:02:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:13:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7375 episode 0 object objaflowerpot_322c718ce80c4e8b9f69be7306acb357_1_0_6 completed with success=False +[05/27 15:13:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7375: 1 episodes +[05/27 15:13:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:13:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:13:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7375 +[05/27 15:13:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7375 in 2.38s (batch: 2.27s, save: 0.10s) +[05/27 15:13:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7375 +[05/27 15:13:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7375: 0/1 successful episodes +[05/27 15:13:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7448 (index 83/114) +[05/27 15:13:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7448 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:13:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_3 in scene +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_3 in scene +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_a42f14e6d8b7476f8e036cec5e2bc122_1_0_9 in scene +[05/27 15:14:07 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_9 in scene +Goal: place orange toy raygun next to detailed scale model commercial building +[2026-05-27 15:15:11,640] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:32:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7448 episode 0 object objatoyraygun_e2ae085aca5147b7bb963bc408dd774d_1_0_3 completed with success=False +[05/27 15:32:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7448: 1 episodes +[05/27 15:32:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:32:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:32:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7448 +[05/27 15:32:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7448 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 15:32:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7448 +[05/27 15:32:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7448: 0/1 successful episodes +[05/27 15:32:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7505 (index 84/114) +[05/27 15:32:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:32:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place smooth off-white dog bone toy next to stylized red flower with green leaves +[2026-05-27 15:33:52,605] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:34:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:42:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 7505 episode 0 object objadogtoy_619ebcad52474517b55ead09935e4a57_1_0_2 completed with success=False +[05/27 15:42:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7505: 1 episodes +[05/27 15:42:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:42:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:42:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7505 +[05/27 15:42:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7505 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 15:42:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7505 +[05/27 15:42:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7505: 0/1 successful episodes +[05/27 15:42:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7631 (index 85/114) +[05/27 15:42:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:42:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 15:42:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaskull_60ad026c0f424aa29edfa947e4921276_1_0_6 in scene +Goal: place black vintage camera with rainbow stripe next to gold pump bottle +[2026-05-27 15:44:01,994] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:44:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:57:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7631 episode 0 object objainstantcamera_e5b7a512a7834420b3dfc5bc15d3bdf6_1_0_8 completed with success=False +[05/27 15:57:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7631: 1 episodes +[05/27 15:57:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:57:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:57:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7631 +[05/27 15:57:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7631 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 15:57:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7631 +[05/27 15:57:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7631: 0/1 successful episodes +[05/27 15:57:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7748 (index 86/114) +[05/27 15:57:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 15:57:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 15:57:38 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_129920be953d458a941ea1f33599a5bf_1_0_5 in scene +[05/27 15:57:38 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_5 in scene +[05/27 15:57:38 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_7 in scene +Goal: place glossy colorful rubik's cube puzzle next to brown wooden bowl +[2026-05-27 15:58:43,344] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:12:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7748 episode 0 object objapuzzle_a04ff652820c465da4ba7a427fd34417_1_0_8 completed with success=False +[05/27 16:13:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7748: 1 episodes +[05/27 16:13:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:13:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:13:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7748 +[05/27 16:13:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7748 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 16:13:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7748 +[05/27 16:13:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7748: 0/1 successful episodes +[05/27 16:13:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7843 (index 87/114) +[05/27 16:13:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7843 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:13:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 16:13:18 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_6afe3635cad7781073478ce57191cfc3_2_0_7 in scene +[05/27 16:13:18 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_b7727b77b84280c50b68099ba174d84e_1_0_7 in scene +Goal: place blue four-sided die next to blue liquid bottle +[2026-05-27 16:14:22,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:14:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:29:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 7843 episode 0 object objadie_7df438532d2f4567a87fb61f0336ad57_1_0_2 completed with success=False +[05/27 16:29:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7843: 1 episodes +[05/27 16:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:29:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:29:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7843 +[05/27 16:29:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7843 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 16:29:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7843 +[05/27 16:29:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7843: 0/1 successful episodes +[05/27 16:29:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7929 (index 88/114) +[05/27 16:29:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7929 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:29:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 16:30:02 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_3_0_5 in scene +[05/27 16:30:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place green circuit board with labeled connectors next to yellow rectangular box with branding +[2026-05-27 16:31:06,049] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:46:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7929 episode 0 object objacircuitboard_514169482d3b42378dd5131d6e411b59_1_0_3 completed with success=False +[05/27 16:47:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7929: 1 episodes +[05/27 16:47:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:47:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:47:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7929 +[05/27 16:47:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7929 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 16:47:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7929 +[05/27 16:47:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7929: 0/1 successful episodes +[05/27 16:47:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8008 (index 89/114) +[05/27 16:47:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8008 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:47:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 16:47:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaskullmodel_8c534dd087ba4d739243fba8b411e7a6_1_0_4 in scene +[05/27 16:47:15 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene +Goal: place large stainless steel cooking pot next to blue ceramic plate +[2026-05-27 16:48:20,230] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:48:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:57:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 8008 episode 0 object pot_953c9fc3b15d21564e56b7875cf8af20_1_0_2 completed with success=False +[05/27 16:57:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8008: 1 episodes +[05/27 16:57:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:57:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:57:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8008 +[05/27 16:57:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8008 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 16:57:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8008 +[05/27 16:57:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8008: 0/1 successful episodes +[05/27 16:57:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8063 (index 90/114) +[05/27 16:57:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 8063 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 16:57:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place blue dna helix next to bulbous shiny gold vase +[2026-05-27 16:58:44,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:59:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:11:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 8063 episode 0 object objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_5 completed with success=False +[05/27 17:11:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place blue and white modern electric iron next to rectangular plaque with astronaut design +[2026-05-27 17:12:58,399] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:25:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 8063 episode 1 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2 completed with success=False +[05/27 17:25:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8063: 2 episodes +[05/27 17:25:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:25:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:25:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:25:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:25:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8063 +[05/27 17:25:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8063 in 4.83s (batch: 4.66s, save: 0.17s) +[05/27 17:25:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8063 +[05/27 17:25:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8063: 0/2 successful episodes +[05/27 17:25:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8111 (index 91/114) +[05/27 17:25:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8111 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 17:25:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 17:26:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place medium red tomato with small stem next to fresh green lettuce head with stem +[2026-05-27 17:27:10,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:38:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 8111 episode 0 object tomato_5eae6c3ba60250aba913d63c8804bcf4_1_0_6 completed with success=False +[05/27 17:38:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8111: 1 episodes +[05/27 17:38:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:39:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:39:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8111 +[05/27 17:39:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8111 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 17:39:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8111 +[05/27 17:39:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8111: 0/1 successful episodes +[05/27 17:39:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8216 (index 92/114) +[05/27 17:39:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 17:39:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 17:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object objabakingingredientpackage_4cbd81f4246640bb8ee09370e4fcd7ed_1_0_2 in scene +[05/27 17:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object cup_b31afea732a344b3a47a266ce9bb531f_1_0_2 in scene +Goal: place roll of light brown adhesive tape next to miniature pink torii gate with gray top +[2026-05-27 17:40:19,908] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:40:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:59:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 8216 episode 0 object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_2 completed with success=False +[05/27 17:59:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8216: 1 episodes +[05/27 17:59:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:00:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:00:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8216 +[05/27 18:00:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8216 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 18:00:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8216 +[05/27 18:00:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8216: 0/1 successful episodes +[05/27 18:00:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8254 (index 93/114) +[05/27 18:00:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8254 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:00:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place dark metal frying pan with handle next to gray spray bottle +[2026-05-27 18:01:12,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:01:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:08:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 8254 episode 0 object cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2 completed with success=False +[05/27 18:08:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8254: 1 episodes +[05/27 18:08:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:08:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:08:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8254 +[05/27 18:08:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8254 in 2.43s (batch: 2.33s, save: 0.10s) +[05/27 18:08:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8254 +[05/27 18:08:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8254: 0/1 successful episodes +[05/27 18:08:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8347 (index 94/114) +[05/27 18:08:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:08:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 18:08:31 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_7a75c224806a4d04a7a9ebba517ad100_1_0_6 in scene +[05/27 18:08:31 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene +Goal: place red star goblet next to long slender brown wooden piece +[2026-05-27 18:09:33,257] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:10:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:20:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 8347 episode 0 object objadecorativegoblet_20d62fed128845d5942720920dd1e441_1_0_4 completed with success=False +[05/27 18:20:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8347: 1 episodes +[05/27 18:20:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:20:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:20:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8347 +[05/27 18:20:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8347 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 18:20:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8347 +[05/27 18:20:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8347: 0/1 successful episodes +[05/27 18:20:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8407 (index 95/114) +[05/27 18:20:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8407 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:20:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place munition next to black cat with purple ears and tail +[2026-05-27 18:21:35,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:22:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 8407 episode 0 object objabulletcartridge_1b46a5e8c3aa4ce9ac49c68efdb21b9c_1_0_7 completed with success=False +[05/27 18:28:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8407: 1 episodes +[05/27 18:28:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:28:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8407 +[05/27 18:28:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8407 in 2.72s (batch: 2.64s, save: 0.09s) +[05/27 18:28:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8407 +[05/27 18:28:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8407: 0/1 successful episodes +[05/27 18:28:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8483 (index 96/114) +[05/27 18:28:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:28:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 18:29:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_5 in scene +[05/27 18:29:08 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene +Goal: place beige windmill with blue roof next to olive green clamp with grip +[2026-05-27 18:30:11,131] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 8483 episode 0 object objadecorativewindmill_558349ea1db149029e67490134e33c21_1_0_4 completed with success=False +[05/27 18:48:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8483: 1 episodes +[05/27 18:48:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:48:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8483 +[05/27 18:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8483 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 18:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8483 +[05/27 18:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8483: 0/1 successful episodes +[05/27 18:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8598 (index 97/114) +[05/27 18:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8598 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 18:48:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place vintage red hand drill with gear next to slim dark cellphone with buttons +[2026-05-27 18:49:33,882] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:50:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:04:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 8598 episode 0 object objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_3 completed with success=False +[05/27 19:04:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8598: 1 episodes +[05/27 19:04:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:04:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:04:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8598 +[05/27 19:04:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8598 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 19:04:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8598 +[05/27 19:04:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8598: 0/1 successful episodes +[05/27 19:04:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8693 (index 98/114) +[05/27 19:04:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8693 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:04:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place worn notebook with stickers next to moka pot +[2026-05-27 19:06:20,262] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:18:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 8693 episode 0 object objanotebook_21d8c15bddc8434e89d7d8d7e67092c9_1_0_6 completed with success=False +[05/27 19:18:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8693: 1 episodes +[05/27 19:18:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:18:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:18:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8693 +[05/27 19:18:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8693 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 19:18:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8693 +[05/27 19:18:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8693: 0/1 successful episodes +[05/27 19:18:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8774 (index 99/114) +[05/27 19:18:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:18:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place food packet next to brown bread +[2026-05-27 19:19:21,656] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:27:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 8774 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False +[05/27 19:27:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8774: 1 episodes +[05/27 19:27:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:27:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:27:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8774 +[05/27 19:27:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8774 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 19:27:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8774 +[05/27 19:27:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8774: 0/1 successful episodes +[05/27 19:27:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8866 (index 100/114) +[05/27 19:27:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8866 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:27:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 19:28:02 Worker 0 WARNING object_manager.py:1238] Could not find object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_7 in scene +[05/27 19:28:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_7 in scene +Goal: place hiking shoe next to miniature tower +[2026-05-27 19:29:06,983] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:29:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:42:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 8866 episode 0 object objahikingshoe_36cf424a356146249c8043410083858f_1_0_5 completed with success=False +[05/27 19:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8866: 1 episodes +[05/27 19:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:42:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:42:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8866 +[05/27 19:42:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8866 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 19:42:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8866 +[05/27 19:42:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8866: 0/1 successful episodes +[05/27 19:42:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8925 (index 101/114) +[05/27 19:42:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:42:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 19:43:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 19:43:04 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_e58a7a0c37cb0ef9c8155d56cc319ccf_1_0_6 in scene +Goal: place metallic bold three-dimensional nameplate next to alarmclock +[2026-05-27 19:44:09,419] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:44:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:55:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 8925 episode 0 object objanameplate_47e5a18ca5c74911af360bf4de7aa9f2_1_0_4 completed with success=False +[05/27 19:55:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8925: 1 episodes +[05/27 19:55:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:55:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:55:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8925 +[05/27 19:55:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8925 in 2.81s (batch: 2.64s, save: 0.17s) +[05/27 19:55:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8925 +[05/27 19:55:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8925: 0/1 successful episodes +[05/27 19:55:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8996 (index 102/114) +[05/27 19:55:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8996 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:55:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place shiny gold candy wrapper with twists next to transparent conical cup with base +[2026-05-27 19:57:36,187] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:58:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:59:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 8996 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_6 completed with success=False +[05/27 19:59:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8996: 1 episodes +[05/27 19:59:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:59:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:59:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8996 +[05/27 19:59:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8996 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 19:59:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8996 +[05/27 19:59:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8996: 0/1 successful episodes +[05/27 19:59:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9058 (index 103/114) +[05/27 19:59:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9058 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 19:59:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place elongated red pepper with stem next to smooth glossy red tomato +[2026-05-27 20:01:21,011] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:01:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:15:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 9058 episode 0 object objavegetable_efb5f76948714689a43d7e41f712555a_1_0_2 completed with success=False +[05/27 20:15:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9058: 1 episodes +[05/27 20:15:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:15:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:15:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9058 +[05/27 20:15:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9058 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 20:15:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9058 +[05/27 20:15:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9058: 0/1 successful episodes +[05/27 20:15:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9140 (index 104/114) +[05/27 20:15:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 20:15:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 20:16:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_2 in scene +Goal: place gold black toy robot next to book +[2026-05-27 20:17:30,381] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:18:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:26:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 9140 episode 0 object objatoyrobot_7edbf0ed6932465c86bdf37d2a53ffeb_1_0_7 completed with success=False +[05/27 20:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9140: 1 episodes +[05/27 20:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:27:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:27:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9140 +[05/27 20:27:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9140 in 2.41s (batch: 2.31s, save: 0.09s) +[05/27 20:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9140 +[05/27 20:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9140: 0/1 successful episodes +[05/27 20:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9190 (index 105/114) +[05/27 20:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 20:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 20:27:24 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene +[05/27 20:27:24 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene +Goal: place locking pliers next to green glossy cup with spherical base +[2026-05-27 20:28:25,322] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:28:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:43:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9190 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False +[05/27 20:43:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9190: 1 episodes +[05/27 20:43:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:43:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:43:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9190 +[05/27 20:43:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9190 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 20:43:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9190 +[05/27 20:43:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9190: 0/1 successful episodes +[05/27 20:43:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9296 (index 106/114) +[05/27 20:43:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9296 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 20:43:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place yellow energy cell with text next to black cylinder +[2026-05-27 20:45:02,924] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:00:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9296 episode 0 object objabattery_232d825f11f5428382e14dacefa02f0c_2_0_4 completed with success=False +[05/27 21:00:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9296: 1 episodes +[05/27 21:00:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:00:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:00:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9296 +[05/27 21:00:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9296 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 21:00:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9296 +[05/27 21:00:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9296: 0/1 successful episodes +[05/27 21:00:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9398 (index 107/114) +[05/27 21:00:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:00:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 21:00:35 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_7 in scene +Goal: place sleek black spinning top next to gold metallic phone +[2026-05-27 21:01:38,401] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:02:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:13:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 9398 episode 0 object objaspinningtop_15be96b0b22d4f69b3569445bd372c48_1_0_4 completed with success=False +[05/27 21:13:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9398: 1 episodes +[05/27 21:13:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:13:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:13:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9398 +[05/27 21:13:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9398 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 21:13:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9398 +[05/27 21:13:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9398: 0/1 successful episodes +[05/27 21:13:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9491 (index 108/114) +[05/27 21:13:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:13:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 21:13:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_5 in scene +[05/27 21:13:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_3_0_5 in scene +[05/27 21:13:45 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place rustic windmill next to blue square plate with hexagons +[2026-05-27 21:14:51,009] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:29:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 9491 episode 0 object objaminiaturewindmill_7e16ed658d92416e9faae0ad91059e92_1_0_4 completed with success=False +[05/27 21:29:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9491: 1 episodes +[05/27 21:29:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:29:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:29:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9491 +[05/27 21:29:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9491 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 21:29:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9491 +[05/27 21:29:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9491: 0/1 successful episodes +[05/27 21:29:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9534 (index 109/114) +[05/27 21:29:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9534 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:29:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 21:29:57 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 in scene +[05/27 21:29:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene +Goal: place metal multitool next to spray bottle +[2026-05-27 21:31:01,837] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:31:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:42:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 9534 episode 0 object objamultitool_d9de978241864228829edcf061a8ce64_1_0_8 completed with success=False +[05/27 21:42:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9534: 1 episodes +[05/27 21:42:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:42:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:42:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9534 +[05/27 21:42:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9534 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 21:42:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9534 +[05/27 21:42:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9534: 0/1 successful episodes +[05/27 21:42:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9605 (index 110/114) +[05/27 21:42:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9605 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:42:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place black magician's wand with white tips next to soap dispenser +[2026-05-27 21:43:49,489] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:44:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:49:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 9605 episode 0 object objamagicwand_95837e7f267649c4b344bd47c6d3238a_1_0_2 completed with success=False +[05/27 21:49:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9605: 1 episodes +[05/27 21:49:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:49:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:49:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9605 +[05/27 21:49:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9605 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 21:49:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9605 +[05/27 21:49:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9605: 0/1 successful episodes +[05/27 21:49:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9673 (index 111/114) +[05/27 21:49:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9673 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 21:49:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place gold patterned ocarina next to small ceramic church model with steeple +[2026-05-27 21:50:19,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:00:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 9673 episode 0 object objaocarina_a29e1d2cb6af40c49572e4085c9cdd23_1_0_7 completed with success=False +[05/27 22:00:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9673: 1 episodes +[05/27 22:00:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:00:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:00:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9673 +[05/27 22:00:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9673 in 2.64s (batch: 2.56s, save: 0.09s) +[05/27 22:00:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9673 +[05/27 22:00:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9673: 0/1 successful episodes +[05/27 22:00:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9767 (index 112/114) +[05/27 22:00:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 22:00:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place pointed silver blade garden trowel next to black magnifying glass with handle +[2026-05-27 22:01:27,789] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:02:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:07:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 9767 episode 0 object objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_2 completed with success=False +[05/27 22:08:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9767: 1 episodes +[05/27 22:08:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:08:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:08:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9767 +[05/27 22:08:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9767 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 22:08:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9767 +[05/27 22:08:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9767: 0/1 successful episodes +[05/27 22:08:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9928 (index 113/114) +[05/27 22:08:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 +[05/27 22:08:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/27 22:08:34 Worker 0 WARNING object_manager.py:1238] Could not find object objatoothpastetube_394713df518944d2aea8b43097b444f5_1_0_3 in scene +[05/27 22:08:34 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_3 in scene +Goal: place gray compact device with pink strap next to dark muscular statue standing dynamically +[2026-05-27 22:09:32,570] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:10:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:17:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 9928 episode 0 object objahandhelddevice_2d9af38e33bf46af992044599ff8adf9_1_0_2 completed with success=False +[05/27 22:17:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9928: 1 episodes +[05/27 22:17:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:17:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:17:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9928 +[05/27 22:17:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9928 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 22:17:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9928 +[05/27 22:17:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9928: 0/1 successful episodes +[05/27 22:17:42 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 22:17:43 INFO pipeline.py:1496] Completed 114 houses, skipped 0 houses +[05/27 22:17:43 INFO pipeline.py:1499] Success count: 3, Total count: 118 +[05/27 22:17:43 INFO pipeline.py:1500] Success rate: 2.54% +Combined 118 episodes from 114 files → /tmp/tmp5sk_4hm5.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv at-end: 2.54% | oracle: 2.54% of 118 episodes +[2026-05-27 22:17:56,231] INFO MolmoSpaces simulator eval finished: success=3/118 rate=0.0254 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval +[2026-05-27 22:17:56,232] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca6954fa44dfbc31972614e21cad39846bd5c7cb --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..526617dc5532d47b1a89cbe26c49b7ca9ef2c116 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/results.csv @@ -0,0 +1,113 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.822724,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.239542,0.0 +latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.751784,0.0 +latest,Fruit,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.903091,18.459919 +latest,Objaadhesivetape,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.162194,11.374243 +latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.942649,0.0 +latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.150332,0.0 +latest,Objaanglegrinder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.897499,0.0 +latest,Objaappliance,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.92214,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.41244,0.0 +latest,Objaartificialplant,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.195573,0.0 +latest,Objaathleticshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.811463,0.0 +latest,Objaawl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.883608,0.0 +latest,Objabattery,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.815498,0.0 +latest,Objabulletcartridge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.353455,0.0 +latest,Objacamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.340634,0.0 +latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.860653,0.0 +latest,Objacandywrapper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.516872,0.0 +latest,Objacapsule,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,27.090644,16.431368 +latest,Objaceramicplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.567945,0.0 +latest,Objacircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.658052,0.0 +latest,Objacoilspring,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.811946,22.071752 +latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.23356,0.0 +latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.80468,0.0 +latest,Objadecorativebust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.894351,0.0 +latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.831684,0.0 +latest,Objadecorativeemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.749984,0.0 +latest,Objadecorativegoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.65253,0.0 +latest,Objadecorativescroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.492354,0.0 +latest,Objadecorativetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.962216,0.0 +latest,Objadecorativewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.705115,0.0 +latest,Objadeskcalendar,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.439571,0.0 +latest,Objadie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.651218,0.0 +latest,Objadnamodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.085562,0.0 +latest,Objadogtoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.713593,0.0 +latest,Objadraftingcompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.99114,0.0 +latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.193457,0.0 +latest,Objaenvelope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.551982,0.0 +latest,Objaeyeglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.448689,0.0 +latest,Objaeyewearframe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.354923,0.0 +latest,Objaflowerpot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.921984,13.826309 +latest,Objafoil,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.050806,0.0 +latest,Objafoodpackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.434078,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.981351,0.0 +latest,Objagardenhoseconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.237508,0.0 +latest,Objagardentrowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.631767,0.0 +latest,Objagemstone,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,16.234604,5.571044 +latest,Objagingerroot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.475933,0.0 +latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.815243,0.0 +latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.667923,0.0 +latest,Objahanddrill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.675271,0.0 +latest,Objahandgrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.757178,0.0 +latest,Objahandhelddevice,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,35.950128,8.353675 +latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.499711,0.0 +latest,Objahikingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.461603,0.0 +latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.50179,0.0 +latest,Objainstantcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.471237,0.0 +latest,Objalockingpliers,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,49.279014,9.118941 +latest,Objamagicwand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.965022,0.0 +latest,Objamarblesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.609271,0.0 +latest,Objamarkerstand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.811274,0.0 +latest,Objametalplate,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,68.647564,39.093608 +latest,Objamicrophone,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,83.624849,0.0 +latest,Objaminiaturewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.5531,0.0 +latest,Objaminidvtape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.184465,0.0 +latest,Objamultitool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.762285,0.0 +latest,Objanameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.4484,0.0 +latest,Objaneedle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.964365,0.0 +latest,Objanetworkdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.586819,0.0 +latest,Objanightvisionscope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.647706,0.0 +latest,Objanotebook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.034395,0.0 +latest,Objaocarina,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.927012,0.0 +latest,Objapaddle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.380873,0.0 +latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.293721,0.0 +latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.841398,0.0 +latest,Objapestle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.986973,0.0 +latest,Objaportablemediaplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,91.406093,0.0 +latest,Objapotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,101.691302,0.0 +latest,Objapuzzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.158184,0.0 +latest,Objasandwich,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.12107,0.0 +latest,Objascepter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.546187,0.0 +latest,Objaservingdish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.481704,0.0 +latest,Objashackle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.231807,0.0 +latest,Objasharpeningsteel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.266003,0.0 +latest,Objasign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.211543,0.0 +latest,Objasolderingiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.833151,0.0 +latest,Objaspinningtop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.514986,0.0 +latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.429639,0.0 +latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.989865,0.0 +latest,Objastatuette,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.147182,0.0 +latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.400242,0.0 +latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.713207,0.0 +latest,Objastonetray,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.880208,0.0 +latest,Objateacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.369807,0.0 +latest,Objatoiletpaper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.01025,0.0 +latest,Objatoyfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.114979,0.0 +latest,Objatoyraygun,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.682415,0.0 +latest,Objatoyrobot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.676033,0.0 +latest,Objavegetable,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,109.762505,0.0 +latest,Objavessel,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,39.171979,0.0 +latest,Objavintagecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.611618,0.0 +latest,Objavirtualrealityheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.572442,0.0 +latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.015841,0.0 +latest,Objawand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.225516,0.0 +latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.043026,0.0 +latest,Pot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.077061,21.026252 +latest,Spray Bottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,83.986722,37.176374 +latest,OVERALL,3,118,2.54,0.92,7.19,3,2.54,0.92,7.19,40.479589,23.347604 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..71399c679ed00b683037b70bd31da856523c9ffb --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/shard_04_results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/shard_04_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..526617dc5532d47b1a89cbe26c49b7ca9ef2c116 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/shard_04_results.csv @@ -0,0 +1,113 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.822724,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.239542,0.0 +latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.751784,0.0 +latest,Fruit,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.903091,18.459919 +latest,Objaadhesivetape,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.162194,11.374243 +latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.942649,0.0 +latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.150332,0.0 +latest,Objaanglegrinder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.897499,0.0 +latest,Objaappliance,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.92214,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.41244,0.0 +latest,Objaartificialplant,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.195573,0.0 +latest,Objaathleticshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.811463,0.0 +latest,Objaawl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.883608,0.0 +latest,Objabattery,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.815498,0.0 +latest,Objabulletcartridge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.353455,0.0 +latest,Objacamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.340634,0.0 +latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.860653,0.0 +latest,Objacandywrapper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.516872,0.0 +latest,Objacapsule,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,27.090644,16.431368 +latest,Objaceramicplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.567945,0.0 +latest,Objacircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.658052,0.0 +latest,Objacoilspring,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.811946,22.071752 +latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.23356,0.0 +latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.80468,0.0 +latest,Objadecorativebust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.894351,0.0 +latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.831684,0.0 +latest,Objadecorativeemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.749984,0.0 +latest,Objadecorativegoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.65253,0.0 +latest,Objadecorativescroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.492354,0.0 +latest,Objadecorativetag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.962216,0.0 +latest,Objadecorativewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.705115,0.0 +latest,Objadeskcalendar,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.439571,0.0 +latest,Objadie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.651218,0.0 +latest,Objadnamodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.085562,0.0 +latest,Objadogtoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.713593,0.0 +latest,Objadraftingcompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.99114,0.0 +latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.193457,0.0 +latest,Objaenvelope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.551982,0.0 +latest,Objaeyeglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.448689,0.0 +latest,Objaeyewearframe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.354923,0.0 +latest,Objaflowerpot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,28.921984,13.826309 +latest,Objafoil,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.050806,0.0 +latest,Objafoodpackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.434078,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.981351,0.0 +latest,Objagardenhoseconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.237508,0.0 +latest,Objagardentrowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.631767,0.0 +latest,Objagemstone,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,16.234604,5.571044 +latest,Objagingerroot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.475933,0.0 +latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.815243,0.0 +latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.667923,0.0 +latest,Objahanddrill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.675271,0.0 +latest,Objahandgrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.757178,0.0 +latest,Objahandhelddevice,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,35.950128,8.353675 +latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.499711,0.0 +latest,Objahikingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.461603,0.0 +latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.50179,0.0 +latest,Objainstantcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.471237,0.0 +latest,Objalockingpliers,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,49.279014,9.118941 +latest,Objamagicwand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.965022,0.0 +latest,Objamarblesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.609271,0.0 +latest,Objamarkerstand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.811274,0.0 +latest,Objametalplate,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,68.647564,39.093608 +latest,Objamicrophone,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,83.624849,0.0 +latest,Objaminiaturewindmill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.5531,0.0 +latest,Objaminidvtape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.184465,0.0 +latest,Objamultitool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.762285,0.0 +latest,Objanameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.4484,0.0 +latest,Objaneedle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.964365,0.0 +latest,Objanetworkdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.586819,0.0 +latest,Objanightvisionscope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.647706,0.0 +latest,Objanotebook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.034395,0.0 +latest,Objaocarina,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.927012,0.0 +latest,Objapaddle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.380873,0.0 +latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.293721,0.0 +latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.841398,0.0 +latest,Objapestle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.986973,0.0 +latest,Objaportablemediaplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,91.406093,0.0 +latest,Objapotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,101.691302,0.0 +latest,Objapuzzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.158184,0.0 +latest,Objasandwich,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.12107,0.0 +latest,Objascepter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.546187,0.0 +latest,Objaservingdish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.481704,0.0 +latest,Objashackle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.231807,0.0 +latest,Objasharpeningsteel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.266003,0.0 +latest,Objasign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.211543,0.0 +latest,Objasolderingiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.833151,0.0 +latest,Objaspinningtop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.514986,0.0 +latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.429639,0.0 +latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.989865,0.0 +latest,Objastatuette,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.147182,0.0 +latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.400242,0.0 +latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.713207,0.0 +latest,Objastonetray,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.880208,0.0 +latest,Objateacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.369807,0.0 +latest,Objatoiletpaper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.01025,0.0 +latest,Objatoyfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.114979,0.0 +latest,Objatoyraygun,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.682415,0.0 +latest,Objatoyrobot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.676033,0.0 +latest,Objavegetable,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,109.762505,0.0 +latest,Objavessel,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,39.171979,0.0 +latest,Objavintagecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.611618,0.0 +latest,Objavirtualrealityheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.572442,0.0 +latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.015841,0.0 +latest,Objawand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.225516,0.0 +latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.043026,0.0 +latest,Pot,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.077061,21.026252 +latest,Spray Bottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,83.986722,37.176374 +latest,OVERALL,3,118,2.54,0.92,7.19,3,2.54,0.92,7.19,40.479589,23.347604 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/submission_manifest.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ed412fbcb8b6b5be287ebfe43760ddab45ecc9eb --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/submission_manifest.json @@ -0,0 +1,160 @@ +{ + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_04", + "results_csv": "results.csv", + "summary_json": "summary.json", + "episode_results_jsonl": "episode_results.jsonl", + "eval_meta_json": "eval_meta.json", + "eval_log": "eval.log", + "metrics_mean": { + "success_rate": 0.025423728813559324, + "success_count": 3.0, + "total_episodes": 118.0, + "avg_episode_length": 440.3813559322034, + "oracle_done_rate": 0.025423728813559324, + "success_rate_pct": 2.54, + "oracle_rate_pct": 2.54 + }, + "stats": { + "total_episodes": 118, + "success_count": 3, + "failure_count": 115, + "success_rate": 0.025423728813559324, + "avg_episode_length": 440.3813559322034, + "min_episode_length": 44, + "max_episode_length": 449, + "num_houses": 114, + "house_success_rates": { + "house_1016": 0.0, + "house_1129": 0.0, + "house_1215": 0.0, + "house_1281": 0.0, + "house_1357": 0.0, + "house_1421": 0.0, + "house_1440": 0.0, + "house_1598": 0.0, + "house_1698": 0.0, + "house_1765": 0.0, + "house_1862": 0.0, + "house_1937": 0.0, + "house_2034": 0.0, + "house_2142": 0.0, + "house_2245": 0.0, + "house_2360": 0.0, + "house_2465": 0.0, + "house_2502": 0.0, + "house_2638": 0.0, + "house_2775": 0.0, + "house_2853": 0.0, + "house_2948": 0.0, + "house_3052": 0.0, + "house_3190": 0.0, + "house_3247": 0.0, + "house_3284": 0.0, + "house_3373": 1.0, + "house_3420": 0.0, + "house_3515": 0.0, + "house_3626": 0.0, + "house_3721": 0.0, + "house_3763": 0.0, + "house_3908": 0.0, + "house_4019": 0.0, + "house_4030": 0.0, + "house_4132": 0.0, + "house_4200": 0.0, + "house_4273": 0.0, + "house_4320": 0.0, + "house_4396": 0.0, + "house_4480": 0.0, + "house_4584": 0.0, + "house_4662": 0.0, + "house_4706": 0.0, + "house_4774": 0.0, + "house_4867": 0.0, + "house_4939": 0.0, + "house_5038": 0.0, + "house_5131": 0.0, + "house_5193": 0.0, + "house_5319": 0.0, + "house_5449": 0.0, + "house_5539": 0.0, + "house_5599": 0.0, + "house_5654": 0.0, + "house_5758": 0.0, + "house_5880": 0.0, + "house_5915": 0.0, + "house_6030": 0.0, + "house_6072": 0.0, + "house_610": 0.0, + "house_6102": 0.0, + "house_6199": 0.0, + "house_6252": 0.0, + "house_6298": 1.0, + "house_6382": 0.0, + "house_6438": 0.0, + "house_6538": 0.0, + "house_658": 0.0, + "house_6696": 0.0, + "house_6758": 0.0, + "house_6883": 0.0, + "house_6937": 0.0, + "house_7012": 0.0, + "house_7066": 0.0, + "house_7163": 0.0, + "house_721": 1.0, + "house_7272": 0.0, + "house_7338": 0.0, + "house_7375": 0.0, + "house_7448": 0.0, + "house_7505": 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"/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/results.csv", + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "end_on_success": true +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/summary.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/submission/summary.json new file mode 100644 index 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0000000000000000000000000000000000000000..53782621845e7f367d9715a4fee266546af4af01 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log @@ -0,0 +1,485 @@ +05/26 12:05:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 12:05:16 INFO: Starting house-by-house rollout of 121 houses with 2 episodes each (242 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 12:05:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 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'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [39, + 77, + 206, + 334, + 428, + 506, + 571, + 614, + 679, + 725, + 778, + 861, + 927, + 1023, + 1153, + 1223, + 1314, + 1382, + 1444, + 1602, + 1700, + 1771, + 1886, + 1963, + 1972, + 2037, + 2151, + 2256, + 2363, + 2467, + 2523, + 2676, + 2791, + 2861, + 2963, + 3056, + 3199, + 3262, + 3286, + 3381, + 3441, + 3527, + 3631, + 3723, + 3776, + 3912, + 4034, + 4136, + 4184, + 4205, + 4283, + 4323, + 4398, + 4492, + 4610, + 4677, + 4712, + 4793, + 4870, + 4957, + 5050, + 5145, + 5200, + 5342, + 5453, + 5543, + 5606, + 5666, + 5770, + 5896, + 5923, + 6057, + 6120, + 6204, + 6213, + 6257, + 6302, + 6385, + 6452, + 6543, + 6698, + 6766, + 6884, + 6941, + 7013, + 7076, 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'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 39 (index 0/121) [pipeline.py: 473] +05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 39 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 12:05:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_39_ceiling.xml [task_sampler.py: 797] +05/26 12:05:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=39, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:05:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:05:34 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/26 12:05:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:05:35 INFO: [Worker 0] Sampled task 'Pick up the bronze cowboy scene belt buckle and place it next to the blue sports bra' [task_sampler.py: 1136] +05/26 12:05:35 INFO: [Worker 0] Worker 0 house 39 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:05:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 12:13:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 12:53:21 INFO: [Worker 0] Worker 0 house 39 episode 0 object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 12:53:30 INFO: [Worker 0] Batching and saving trajectory data for house_39: 1 episodes [pipeline.py: 233] +05/26 12:53:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 12:53:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 12:53:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_39 [save_utils.py: 703] +05/26 12:53:39 INFO: [Worker 0] Successfully saved trajectory data for house_39 in 8.39s (batch: 8.22s, save: 0.17s) [pipeline.py: 280] +05/26 12:53:40 WARNING: [Worker 0] No trajectory data to save for house_39 [pipeline.py: 229] +05/26 12:53:40 INFO: [Worker 0] Worker 0 completed house 39: 0/1 successful episodes [pipeline.py: 1243] +05/26 12:53:40 INFO: [Worker 0] Worker 0 starting house 77 (index 1/121) [pipeline.py: 473] +05/26 12:53:40 INFO: [Worker 0] Loaded 1 episodes for house 77 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 12:53:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:53:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_77_ceiling.xml [task_sampler.py: 797] +05/26 12:53:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=77, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:53:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:53:46 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/26 12:53:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:53:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:53:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:53:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:53:46 INFO: [Worker 0] Sampled task 'Pick up the wooden mannequin hand with peace and place it next to the irregular pale stone hand axe' [task_sampler.py: 1136] +05/26 12:53:46 INFO: [Worker 0] Worker 0 house 77 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:53:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 13:44:04 INFO: [Worker 0] Worker 0 house 77 episode 0 object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 13:44:16 INFO: [Worker 0] Batching and saving trajectory data for house_77: 1 episodes [pipeline.py: 233] +05/26 13:44:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 13:44:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 13:44:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_77 [save_utils.py: 703] +05/26 13:44:24 INFO: [Worker 0] Successfully saved trajectory data for house_77 in 8.27s (batch: 8.05s, save: 0.22s) [pipeline.py: 280] +05/26 13:44:26 WARNING: [Worker 0] No trajectory data to save for house_77 [pipeline.py: 229] +05/26 13:44:26 INFO: [Worker 0] Worker 0 completed house 77: 0/1 successful episodes [pipeline.py: 1243] +05/26 13:44:26 INFO: [Worker 0] Worker 0 starting house 206 (index 2/121) [pipeline.py: 473] +05/26 13:44:26 INFO: [Worker 0] Loaded 1 episodes for house 206 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 13:44:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 13:44:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_206_ceiling.xml [task_sampler.py: 797] +05/26 13:44:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=206, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 13:44:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 13:44:44 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/26 13:44:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 13:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 13:44:44 INFO: [Worker 0] Sampled task 'Pick up the brown jug with skull motif and place it next to the colorful geometric polyhedral structure' [task_sampler.py: 1136] +05/26 13:44:44 INFO: [Worker 0] Worker 0 house 206 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 13:44:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 13:44:45 WARNING: [Worker 0] Could not find object objaheaddress_017a1cee8b614bacaeb030e17545ccac_1_0_5 in scene [object_manager.py: 1238] +05/26 13:44:45 WARNING: [Worker 0] Could not find object objatapedispenser_fdf53823d30f4fed9a5423d6b6cbfad1_1_0_5 in scene [object_manager.py: 1238] +05/26 13:44:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 14:58:49 INFO: [Worker 0] Worker 0 house 206 episode 0 object objadecorativejug_43598b55b6464176871ac9a56218fcd3_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 14:58:56 INFO: [Worker 0] Batching and saving trajectory data for house_206: 1 episodes [pipeline.py: 233] +05/26 14:58:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 14:59:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 14:59:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_206 [save_utils.py: 703] +05/26 14:59:02 INFO: [Worker 0] Successfully saved trajectory data for house_206 in 6.52s (batch: 6.20s, save: 0.32s) [pipeline.py: 280] +05/26 14:59:03 WARNING: [Worker 0] No trajectory data to save for house_206 [pipeline.py: 229] +05/26 14:59:03 INFO: [Worker 0] Worker 0 completed house 206: 0/1 successful episodes [pipeline.py: 1243] +05/26 14:59:03 INFO: [Worker 0] Worker 0 starting house 334 (index 3/121) [pipeline.py: 473] +05/26 14:59:03 INFO: [Worker 0] Loaded 1 episodes for house 334 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 14:59:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 14:59:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_334_ceiling.xml [task_sampler.py: 797] +05/26 14:59:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=334, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 14:59:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 14:59:37 INFO: [Worker 0] randomize_scene: Setting poses for 113 objects [json_eval_task_sampler.py: 686] +05/26 14:59:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 14:59:37 INFO: [Worker 0] Sampled task 'Pick up the wavy strip with gradient and place it next to the teal hardcover book with white text' [task_sampler.py: 1136] +05/26 14:59:37 INFO: [Worker 0] Worker 0 house 334 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 14:59:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 16:54:44 INFO: [Worker 0] Worker 0 house 334 episode 0 object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 16:54:52 INFO: [Worker 0] Batching and saving trajectory data for house_334: 1 episodes [pipeline.py: 233] +05/26 16:54:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 16:54:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 16:54:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_334 [save_utils.py: 703] +05/26 16:54:58 INFO: [Worker 0] Successfully saved trajectory data for house_334 in 6.60s (batch: 6.27s, save: 0.33s) [pipeline.py: 280] +05/26 16:55:00 WARNING: [Worker 0] No trajectory data to save for house_334 [pipeline.py: 229] +05/26 16:55:00 INFO: [Worker 0] Worker 0 completed house 334: 0/1 successful episodes [pipeline.py: 1243] +05/26 16:55:00 INFO: [Worker 0] Worker 0 starting house 428 (index 4/121) [pipeline.py: 473] +05/26 16:55:00 INFO: [Worker 0] Loaded 1 episodes for house 428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 16:55:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 16:55:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_428_ceiling.xml [task_sampler.py: 797] +05/26 16:55:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=428, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 16:55:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 16:55:25 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/26 16:55:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 16:55:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 16:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 16:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 16:55:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 16:55:25 INFO: [Worker 0] Sampled task 'Pick up the purple hourglass and place it next to the stylized light blue cartoon guitar' [task_sampler.py: 1136] +05/26 16:55:25 INFO: [Worker 0] Worker 0 house 428 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 16:55:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 16:55:25 WARNING: [Worker 0] Could not find object objacandle_6f9449250adc4f9d941f56e486cf186e_1_0_5 in scene [object_manager.py: 1238] +05/26 16:55:25 WARNING: [Worker 0] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_1_0_5 in scene [object_manager.py: 1238] +05/26 17:01:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 18:01:51 INFO: [Worker 0] Worker 0 house 428 episode 0 object objahourglass_d9aeb46f965a492ea436ee917242e7d9_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 18:01:59 INFO: [Worker 0] Batching and saving trajectory data for house_428: 1 episodes [pipeline.py: 233] +05/26 18:01:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 18:02:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 18:02:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_428 [save_utils.py: 703] +05/26 18:02:07 INFO: [Worker 0] Successfully saved trajectory data for house_428 in 7.99s (batch: 7.74s, save: 0.25s) [pipeline.py: 280] +05/26 18:02:08 WARNING: [Worker 0] No trajectory data to save for house_428 [pipeline.py: 229] +05/26 18:02:08 INFO: [Worker 0] Worker 0 completed house 428: 0/1 successful episodes [pipeline.py: 1243] +05/26 18:02:08 INFO: [Worker 0] Worker 0 starting house 506 (index 5/121) [pipeline.py: 473] +05/26 18:02:08 INFO: [Worker 0] Loaded 1 episodes for house 506 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 18:02:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 18:02:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_506_ceiling.xml [task_sampler.py: 797] +05/26 18:02:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=506, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 18:02:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 18:02:30 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/26 18:02:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 18:02:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 18:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 18:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 18:02:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 18:02:30 INFO: [Worker 0] Sampled task 'Pick up the open-end wrench and place it next to the open medium brown cardboard box' [task_sampler.py: 1136] +05/26 18:02:30 INFO: [Worker 0] Worker 0 house 506 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 18:02:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 18:02:30 WARNING: [Worker 0] Could not find object objascrew_d27926c37ce847d2903b34040d41855a_1_0_6 in scene [object_manager.py: 1238] +05/26 18:08:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 18:55:58 INFO: [Worker 0] Worker 0 house 506 episode 0 object objawrench_5bf781c9fd8d4121b735503b13ba2eaf_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 18:56:09 INFO: [Worker 0] Batching and saving trajectory data for house_506: 1 episodes [pipeline.py: 233] +05/26 18:56:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 18:56:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 18:56:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_506 [save_utils.py: 703] +05/26 18:56:17 INFO: [Worker 0] Successfully saved trajectory data for house_506 in 8.02s (batch: 7.64s, save: 0.39s) [pipeline.py: 280] +05/26 18:56:19 WARNING: [Worker 0] No trajectory data to save for house_506 [pipeline.py: 229] +05/26 18:56:19 INFO: [Worker 0] Worker 0 completed house 506: 0/1 successful episodes [pipeline.py: 1243] +05/26 18:56:19 INFO: [Worker 0] Worker 0 starting house 571 (index 6/121) [pipeline.py: 473] +05/26 18:56:19 INFO: [Worker 0] Loaded 1 episodes for house 571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 18:56:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 18:56:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_571_ceiling.xml [task_sampler.py: 797] +05/26 18:56:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=571, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 18:56:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 18:56:38 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/26 18:56:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 18:56:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 18:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 18:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 18:56:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 18:56:38 INFO: [Worker 0] Sampled task 'Pick up the gray cylindrical bacterium with flagella and place it next to the smooth white decorative molding' [task_sampler.py: 1136] +05/26 18:56:38 INFO: [Worker 0] Worker 0 house 571 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 18:56:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 18:56:39 WARNING: [Worker 0] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene [object_manager.py: 1238] +05/26 18:56:39 WARNING: [Worker 0] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_5 in scene [object_manager.py: 1238] +05/26 19:01:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 19:22:52 ERROR: Uncaught exception: [mp_logging.py: 268] +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in + raise SystemExit(main()) + ^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main + results = run_evaluation( + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation + success_count, total_count = runner.run(preloaded_policy=runner_policy) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run + house_processing_worker( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker + runner_class.process_single_house( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout + observation, reward, terminal, truncated, infos = task.step(action_cmd) + ^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step + observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 196, in get_and_cache_all_step_information + observation = self.get_observations() + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 182, in get_observations + env_obs = self._sensor_suite.get_observations( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 111, in get_observations + return { + ^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 112, in + uuid: sensor.get_observation(env=env, task=task, **kwargs) # type: ignore + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/sensors.py", line 638, in get_observation + info = task.get_info()[batch_index] + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 138, in get_info + r_sup_p = om.approximate_supporting_geoms(place_receptacle.body_id, b2g) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms + bpoly, bz, bt = get_body_box(body) + ^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box + c, e = body_aabb(self.model, self.data, bid) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb + return geom_aabb(model, data, geoms) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb + mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 116, in mesh_aabb + aabb_min = np.min(vertices, axis=0) + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2831, in _min_dispatcher + def _min_dispatcher(a, axis=None, out=None, keepdims=None, initial=None, + +KeyboardInterrupt diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..14402cb0238a4dbb19910b3d73679b6c19e48382 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log @@ -0,0 +1,3172 @@ +05/26 19:48:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 19:48:16 INFO: Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 19:48:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 19:48:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [571, + 614, + 679, + 725, + 778, + 861, + 927, + 1023, + 1153, + 1223, + 1314, + 1382, + 1444, + 1602, + 1700, + 1771, + 1886, + 1963, + 1972, + 2037, + 2151, + 2256, + 2363, + 2467, + 2523, + 2676, + 2791, + 2861, + 2963, + 3056, + 3199, + 3262, + 3286, + 3381, + 3441, + 3527, + 3631, + 3723, + 3776, + 3912, + 4034, + 4136, + 4184, + 4205, + 4283, + 4323, + 4398, + 4492, + 4610, + 4677, + 4712, + 4793, + 4870, + 4957, + 5050, + 5145, + 5200, + 5342, + 5453, + 5543, + 5606, + 5666, + 5770, + 5896, + 5923, + 6057, + 6120, + 6204, + 6213, + 6257, + 6302, + 6385, + 6452, + 6543, + 6698, + 6766, + 6884, + 6941, + 7013, + 7076, + 7172, + 7281, + 7343, + 7377, + 7449, + 7506, + 7641, + 7755, + 7847, + 7933, + 8019, + 8115, + 8221, + 8264, + 8278, + 8373, + 8410, + 8495, + 8625, + 8697, + 8794, + 8872, + 8933, + 9017, + 9073, + 9142, + 9221, + 9297, + 9414, + 9492, + 9538, + 9609, + 9687, + 9768, + 9939], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 19:48:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 19:48:16 INFO: [Worker 0] Worker 0 starting house 571 (index 0/115) [pipeline.py: 473] +05/26 19:48:16 INFO: [Worker 0] Loaded 1 episodes for house 571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:31 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 19:48:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_571_ceiling.xml [task_sampler.py: 797] +05/26 19:48:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=571, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:48:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:48:34 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/26 19:48:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:48:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:48:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:48:34 INFO: [Worker 0] Sampled task 'Pick up the gray cylindrical bacterium with flagella and place it next to the smooth white decorative molding' [task_sampler.py: 1136] +05/26 19:48:34 INFO: [Worker 0] Worker 0 house 571 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:48:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:48:34 WARNING: [Worker 0] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene [object_manager.py: 1238] +05/26 19:48:34 WARNING: [Worker 0] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_5 in scene [object_manager.py: 1238] +05/26 19:48:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 19:59:26 INFO: [Worker 0] Worker 0 house 571 episode 0 object objabacteriummodel_f44d9a3b51e14bf38fe32292b0ac8bba_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 19:59:30 INFO: [Worker 0] Batching and saving trajectory data for house_571: 1 episodes [pipeline.py: 233] +05/26 19:59:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 19:59:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 19:59:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_571 [save_utils.py: 703] +05/26 19:59:32 INFO: [Worker 0] Successfully saved trajectory data for house_571 in 2.51s (batch: 2.43s, save: 0.09s) [pipeline.py: 280] +05/26 19:59:33 WARNING: [Worker 0] No trajectory data to save for house_571 [pipeline.py: 229] +05/26 19:59:33 INFO: [Worker 0] Worker 0 completed house 571: 0/1 successful episodes [pipeline.py: 1243] +05/26 19:59:33 INFO: [Worker 0] Worker 0 starting house 614 (index 1/115) [pipeline.py: 473] +05/26 19:59:33 INFO: [Worker 0] Loaded 1 episodes for house 614 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 19:59:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:59:47 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 19:59:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_614_ceiling.xml [task_sampler.py: 797] +05/26 19:59:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=614, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:59:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:59:49 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/26 19:59:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:59:49 INFO: [Worker 0] Sampled task 'Pick up the bronze full-figured statue and place it next to the vintage green aircraft' [task_sampler.py: 1136] +05/26 19:59:49 INFO: [Worker 0] Worker 0 house 614 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:59:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:59:49 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_3 in scene [object_manager.py: 1238] +05/26 20:01:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:08:34 INFO: [Worker 0] Worker 0 house 614 episode 0 object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 20:08:37 INFO: [Worker 0] Batching and saving trajectory data for house_614: 1 episodes [pipeline.py: 233] +05/26 20:08:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:08:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:08:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_614 [save_utils.py: 703] +05/26 20:08:40 INFO: [Worker 0] Successfully saved trajectory data for house_614 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/26 20:08:40 WARNING: [Worker 0] No trajectory data to save for house_614 [pipeline.py: 229] +05/26 20:08:40 INFO: [Worker 0] Worker 0 completed house 614: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:08:40 INFO: [Worker 0] Worker 0 starting house 679 (index 2/115) [pipeline.py: 473] +05/26 20:08:40 INFO: [Worker 0] Loaded 1 episodes for house 679 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 20:08:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:09:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_679_ceiling.xml [task_sampler.py: 797] +05/26 20:09:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=679, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:09:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:09:25 INFO: [Worker 0] randomize_scene: Setting poses for 99 objects [json_eval_task_sampler.py: 686] +05/26 20:09:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:09:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:09:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:09:25 INFO: [Worker 0] Sampled task 'Pick up the pale yellow disk with indentations and place it next to the soapdispenser' [task_sampler.py: 1136] +05/26 20:09:25 INFO: [Worker 0] Worker 0 house 679 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:09:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:09:25 WARNING: [Worker 0] Could not find object apple_1184bcea45a878476443040fbba5b76d_1_0_2 in scene [object_manager.py: 1238] +05/26 20:09:25 WARNING: [Worker 0] Could not find object objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5 in scene [object_manager.py: 1238] +05/26 20:09:25 WARNING: [Worker 0] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene [object_manager.py: 1238] +05/26 20:09:25 WARNING: [Worker 0] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_7 in scene [object_manager.py: 1238] +05/26 20:11:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:28:48 INFO: [Worker 0] Worker 0 house 679 episode 0 object objadisk_97aa2085a8c143c0aacdce273d66d03d_2_0_2 completed with success=False [pipeline.py: 1114] +05/26 20:28:52 INFO: [Worker 0] Batching and saving trajectory data for house_679: 1 episodes [pipeline.py: 233] +05/26 20:28:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:28:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:28:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_679 [save_utils.py: 703] +05/26 20:28:55 INFO: [Worker 0] Successfully saved trajectory data for house_679 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/26 20:28:56 WARNING: [Worker 0] No trajectory data to save for house_679 [pipeline.py: 229] +05/26 20:28:56 INFO: [Worker 0] Worker 0 completed house 679: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:28:56 INFO: [Worker 0] Worker 0 starting house 725 (index 3/115) [pipeline.py: 473] +05/26 20:28:56 INFO: [Worker 0] Loaded 1 episodes for house 725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 20:28:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:29:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_725_ceiling.xml [task_sampler.py: 797] +05/26 20:29:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=725, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:29:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:29:13 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/26 20:29:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:29:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:29:13 INFO: [Worker 0] Sampled task 'Pick up the miniature stone tower and place it next to the n95 mask with blue valve' [task_sampler.py: 1136] +05/26 20:29:13 INFO: [Worker 0] Worker 0 house 725 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:29:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:30:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:42:25 INFO: [Worker 0] Worker 0 house 725 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_2_0_5 completed with success=False [pipeline.py: 1114] +05/26 20:42:28 INFO: [Worker 0] Batching and saving trajectory data for house_725: 1 episodes [pipeline.py: 233] +05/26 20:42:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:42:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:42:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_725 [save_utils.py: 703] +05/26 20:42:31 INFO: [Worker 0] Successfully saved trajectory data for house_725 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/26 20:42:31 WARNING: [Worker 0] No trajectory data to save for house_725 [pipeline.py: 229] +05/26 20:42:31 INFO: [Worker 0] Worker 0 completed house 725: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:42:31 INFO: [Worker 0] Worker 0 starting house 778 (index 4/115) [pipeline.py: 473] +05/26 20:42:31 INFO: [Worker 0] Loaded 1 episodes for house 778 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 20:42:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:43:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_778_ceiling.xml [task_sampler.py: 797] +05/26 20:43:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=778, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:43:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:43:19 INFO: [Worker 0] randomize_scene: Setting poses for 116 objects [json_eval_task_sampler.py: 686] +05/26 20:43:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:43:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:43:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:43:19 INFO: [Worker 0] Sampled task 'Pick up the orange ribbon star medal and place it next to the small gold dog statue' [task_sampler.py: 1136] +05/26 20:43:19 INFO: [Worker 0] Worker 0 house 778 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:43:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:43:19 WARNING: [Worker 0] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene [object_manager.py: 1238] +05/26 20:43:19 WARNING: [Worker 0] Could not find object objasyringe_b76be5e0927040008050d7eae6dd2836_1_0_9 in scene [object_manager.py: 1238] +05/26 21:04:49 INFO: [Worker 0] Worker 0 house 778 episode 0 object objamedal_33981284489f4a7b930e6cc917400042_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 21:04:53 INFO: [Worker 0] Batching and saving trajectory data for house_778: 1 episodes [pipeline.py: 233] +05/26 21:04:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:04:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:04:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_778 [save_utils.py: 703] +05/26 21:04:56 INFO: [Worker 0] Successfully saved trajectory data for house_778 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/26 21:04:57 WARNING: [Worker 0] No trajectory data to save for house_778 [pipeline.py: 229] +05/26 21:04:57 INFO: [Worker 0] Worker 0 completed house 778: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:04:57 INFO: [Worker 0] Worker 0 starting house 861 (index 5/115) [pipeline.py: 473] +05/26 21:04:57 INFO: [Worker 0] Loaded 1 episodes for house 861 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 21:04:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:05:05 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 21:05:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_861_ceiling.xml [task_sampler.py: 797] +05/26 21:05:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=861, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:05:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:05:08 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/26 21:05:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:05:08 INFO: [Worker 0] Sampled task 'Pick up the brown carved stone seal with lion and place it next to the rugged handheld radio' [task_sampler.py: 1136] +05/26 21:05:08 INFO: [Worker 0] Worker 0 house 861 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:05:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:05:08 WARNING: [Worker 0] Could not find object objaalienheadsculpture_72c057433cf8401d823713884723692c_1_0_4 in scene [object_manager.py: 1238] +05/26 21:05:08 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 21:05:08 WARNING: [Worker 0] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene [object_manager.py: 1238] +05/26 21:05:08 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene [object_manager.py: 1238] +05/26 21:05:08 WARNING: [Worker 0] Could not find object objadigitalart_15d28a35f51d40b5b8483db4e53af2b7_1_0_8 in scene [object_manager.py: 1238] +05/26 21:06:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:18:06 INFO: [Worker 0] Worker 0 house 861 episode 0 object objaseal_8197dcc6f59241cea24f1ac503c6e085_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 21:18:10 INFO: [Worker 0] Batching and saving trajectory data for house_861: 1 episodes [pipeline.py: 233] +05/26 21:18:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:18:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:18:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_861 [save_utils.py: 703] +05/26 21:18:13 INFO: [Worker 0] Successfully saved trajectory data for house_861 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/26 21:18:13 WARNING: [Worker 0] No trajectory data to save for house_861 [pipeline.py: 229] +05/26 21:18:13 INFO: [Worker 0] Worker 0 completed house 861: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:18:13 INFO: [Worker 0] Worker 0 starting house 927 (index 6/115) [pipeline.py: 473] +05/26 21:18:13 INFO: [Worker 0] Loaded 1 episodes for house 927 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 21:18:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:19:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_927_ceiling.xml [task_sampler.py: 797] +05/26 21:19:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=927, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:19:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:19:00 INFO: [Worker 0] randomize_scene: Setting poses for 102 objects [json_eval_task_sampler.py: 686] +05/26 21:19:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:19:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:19:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:19:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:19:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:19:00 INFO: [Worker 0] Sampled task 'Pick up the ergonomic black wireless mouse and place it next to the green mechanical fish' [task_sampler.py: 1136] +05/26 21:19:00 INFO: [Worker 0] Worker 0 house 927 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:19:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:37:26 INFO: [Worker 0] Worker 0 house 927 episode 0 object objacomputermouse_9ef32c2cbe46448db358b472f806c298_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 21:37:29 INFO: [Worker 0] Batching and saving trajectory data for house_927: 1 episodes [pipeline.py: 233] +05/26 21:37:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:37:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:37:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_927 [save_utils.py: 703] +05/26 21:37:32 INFO: [Worker 0] Successfully saved trajectory data for house_927 in 2.82s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/26 21:37:33 WARNING: [Worker 0] No trajectory data to save for house_927 [pipeline.py: 229] +05/26 21:37:33 INFO: [Worker 0] Worker 0 completed house 927: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:37:33 INFO: [Worker 0] Worker 0 starting house 1023 (index 7/115) [pipeline.py: 473] +05/26 21:37:33 INFO: [Worker 0] Loaded 1 episodes for house 1023 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 21:37:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:38:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1023_ceiling.xml [task_sampler.py: 797] +05/26 21:38:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1023, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:38:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:38:00 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/26 21:38:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:38:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:38:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:38:00 INFO: [Worker 0] Sampled task 'Pick up the white bowling pin with red stripes and place it next to the black calculator with buttons' [task_sampler.py: 1136] +05/26 21:38:00 INFO: [Worker 0] Worker 0 house 1023 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:38:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:38:00 WARNING: [Worker 0] Could not find object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_5 in scene [object_manager.py: 1238] +05/26 21:38:00 WARNING: [Worker 0] Could not find object objasneaker_30f356d441a74ef5a5311cfce28ccbf8_1_0_5 in scene [object_manager.py: 1238] +05/26 21:38:00 WARNING: [Worker 0] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene [object_manager.py: 1238] +05/26 21:39:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:56:25 INFO: [Worker 0] Worker 0 house 1023 episode 0 object objabowlingpin_b64b0c12be0a4242bf20167812a8df9e_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 21:56:28 INFO: [Worker 0] Batching and saving trajectory data for house_1023: 1 episodes [pipeline.py: 233] +05/26 21:56:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:56:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:56:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1023 [save_utils.py: 703] +05/26 21:56:30 INFO: [Worker 0] Successfully saved trajectory data for house_1023 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/26 21:56:31 WARNING: [Worker 0] No trajectory data to save for house_1023 [pipeline.py: 229] +05/26 21:56:31 INFO: [Worker 0] Worker 0 completed house 1023: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:56:31 INFO: [Worker 0] Worker 0 starting house 1153 (index 8/115) [pipeline.py: 473] +05/26 21:56:31 INFO: [Worker 0] Loaded 1 episodes for house 1153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 21:56:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:56:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1153_ceiling.xml [task_sampler.py: 797] +05/26 21:56:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1153, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:56:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:56:36 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/26 21:56:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:56:36 INFO: [Worker 0] Sampled task 'Pick up the tall white candle on golden holder and place it next to the brown bowl' [task_sampler.py: 1136] +05/26 21:56:36 INFO: [Worker 0] Worker 0 house 1153 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:56:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:56:36 WARNING: [Worker 0] Could not find object objacan_615d050718e849d2812ecfab3815bb6f_1_0_2 in scene [object_manager.py: 1238] +05/26 21:56:36 WARNING: [Worker 0] Could not find object tomato_39a09e2414136c22c19ce43e027d1f9a_1_0_2 in scene [object_manager.py: 1238] +05/26 22:05:57 INFO: [Worker 0] Worker 0 house 1153 episode 0 object candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_4 completed with success=True [pipeline.py: 1114] +05/26 22:06:01 INFO: [Worker 0] Batching and saving trajectory data for house_1153: 1 episodes [pipeline.py: 233] +05/26 22:06:01 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 284] +05/26 22:06:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:06:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1153 [save_utils.py: 703] +05/26 22:06:04 INFO: [Worker 0] Successfully saved trajectory data for house_1153 in 2.76s (batch: 2.69s, save: 0.07s) [pipeline.py: 280] +05/26 22:06:05 WARNING: [Worker 0] No trajectory data to save for house_1153 [pipeline.py: 229] +05/26 22:06:05 INFO: [Worker 0] Worker 0 completed house 1153: 1/1 successful episodes [pipeline.py: 1243] +05/26 22:06:05 INFO: [Worker 0] Worker 0 starting house 1223 (index 9/115) [pipeline.py: 473] +05/26 22:06:05 INFO: [Worker 0] Loaded 1 episodes for house 1223 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 22:06:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:07:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1223_ceiling.xml [task_sampler.py: 797] +05/26 22:07:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1223, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:07:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:07:01 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/26 22:07:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:07:01 INFO: [Worker 0] Sampled task 'Pick up the wooden chisel and place it next to the dark green graphics card with fans' [task_sampler.py: 1136] +05/26 22:07:01 INFO: [Worker 0] Worker 0 house 1223 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:07:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:07:02 WARNING: [Worker 0] Could not find object objabridgemodel_8dc8d8f731e346d8bef78d655e5fc3ce_1_0_4 in scene [object_manager.py: 1238] +05/26 22:07:02 WARNING: [Worker 0] Could not find object objabridgemodel_8dc8d8f731e346d8bef78d655e5fc3ce_2_0_4 in scene [object_manager.py: 1238] +05/26 22:08:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:21:40 INFO: [Worker 0] Worker 0 house 1223 episode 0 object objachisel_c6bbc73907ae42b98384b213f166abcc_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 22:21:44 INFO: [Worker 0] Batching and saving trajectory data for house_1223: 1 episodes [pipeline.py: 233] +05/26 22:21:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:21:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:21:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1223 [save_utils.py: 703] +05/26 22:21:46 INFO: [Worker 0] Successfully saved trajectory data for house_1223 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/26 22:21:47 WARNING: [Worker 0] No trajectory data to save for house_1223 [pipeline.py: 229] +05/26 22:21:47 INFO: [Worker 0] Worker 0 completed house 1223: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:21:47 INFO: [Worker 0] Worker 0 starting house 1314 (index 10/115) [pipeline.py: 473] +05/26 22:21:47 INFO: [Worker 0] Loaded 1 episodes for house 1314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 22:21:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:21:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1314_ceiling.xml [task_sampler.py: 797] +05/26 22:21:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1314, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:21:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:21:52 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/26 22:21:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:21:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:21:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:21:52 INFO: [Worker 0] Sampled task 'Pick up the orange cylindrical medicine bottle with label and place it next to the octagonal translucent soap bottle' [task_sampler.py: 1136] +05/26 22:21:52 INFO: [Worker 0] Worker 0 house 1314 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:21:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:21:52 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene [object_manager.py: 1238] +05/26 22:23:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:40:14 INFO: [Worker 0] Worker 0 house 1314 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 22:40:17 INFO: [Worker 0] Batching and saving trajectory data for house_1314: 1 episodes [pipeline.py: 233] +05/26 22:40:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:40:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:40:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1314 [save_utils.py: 703] +05/26 22:40:20 INFO: [Worker 0] Successfully saved trajectory data for house_1314 in 2.64s (batch: 2.55s, save: 0.09s) [pipeline.py: 280] +05/26 22:40:20 WARNING: [Worker 0] No trajectory data to save for house_1314 [pipeline.py: 229] +05/26 22:40:20 INFO: [Worker 0] Worker 0 completed house 1314: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:40:20 INFO: [Worker 0] Worker 0 starting house 1382 (index 11/115) [pipeline.py: 473] +05/26 22:40:20 INFO: [Worker 0] Loaded 1 episodes for house 1382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 22:40:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:40:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1382_ceiling.xml [task_sampler.py: 797] +05/26 22:40:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1382, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:40:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:40:26 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/26 22:40:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:40:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:40:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:40:26 INFO: [Worker 0] Sampled task 'Pick up the blue dna helix and place it next to the alarmclock' [task_sampler.py: 1136] +05/26 22:40:26 INFO: [Worker 0] Worker 0 house 1382 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:40:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:40:26 WARNING: [Worker 0] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_5 in scene [object_manager.py: 1238] +05/26 22:40:26 WARNING: [Worker 0] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene [object_manager.py: 1238] +05/26 22:42:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:57:30 INFO: [Worker 0] Worker 0 house 1382 episode 0 object objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_6 completed with success=False [pipeline.py: 1114] +05/26 22:57:33 INFO: [Worker 0] Batching and saving trajectory data for house_1382: 1 episodes [pipeline.py: 233] +05/26 22:57:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:57:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:57:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1382 [save_utils.py: 703] +05/26 22:57:35 INFO: [Worker 0] Successfully saved trajectory data for house_1382 in 2.41s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/26 22:57:36 WARNING: [Worker 0] No trajectory data to save for house_1382 [pipeline.py: 229] +05/26 22:57:36 INFO: [Worker 0] Worker 0 completed house 1382: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:57:36 INFO: [Worker 0] Worker 0 starting house 1444 (index 12/115) [pipeline.py: 473] +05/26 22:57:36 INFO: [Worker 0] Loaded 1 episodes for house 1444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 22:57:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:58:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1444_ceiling.xml [task_sampler.py: 797] +05/26 22:58:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1444, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:58:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:58:22 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/26 22:58:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:58:22 INFO: [Worker 0] Sampled task 'Pick up the multicolored molecular model with spheres and place it next to the dark glossy hardcover book with gold' [task_sampler.py: 1136] +05/26 22:58:22 INFO: [Worker 0] Worker 0 house 1444 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:58:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:58:22 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene [object_manager.py: 1238] +05/26 22:58:22 WARNING: [Worker 0] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene [object_manager.py: 1238] +05/26 22:59:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:12:31 INFO: [Worker 0] Worker 0 house 1444 episode 0 object objatoy_bc73d10e6aca4b13ae05b5e4017ed484_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 23:12:35 INFO: [Worker 0] Batching and saving trajectory data for house_1444: 1 episodes [pipeline.py: 233] +05/26 23:12:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:12:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:12:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1444 [save_utils.py: 703] +05/26 23:12:37 INFO: [Worker 0] Successfully saved trajectory data for house_1444 in 2.41s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/26 23:12:38 WARNING: [Worker 0] No trajectory data to save for house_1444 [pipeline.py: 229] +05/26 23:12:38 INFO: [Worker 0] Worker 0 completed house 1444: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:12:38 INFO: [Worker 0] Worker 0 starting house 1602 (index 13/115) [pipeline.py: 473] +05/26 23:12:38 INFO: [Worker 0] Loaded 1 episodes for house 1602 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 23:12:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:13:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1602_ceiling.xml [task_sampler.py: 797] +05/26 23:13:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1602, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:13:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:13:14 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/26 23:13:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:13:14 INFO: [Worker 0] Sampled task 'Pick up the white lint roller with handle and place it next to the blue dna helix model with rungs' [task_sampler.py: 1136] +05/26 23:13:14 INFO: [Worker 0] Worker 0 house 1602 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:13:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:14:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:29:30 INFO: [Worker 0] Worker 0 house 1602 episode 0 object objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 23:29:34 INFO: [Worker 0] Batching and saving trajectory data for house_1602: 1 episodes [pipeline.py: 233] +05/26 23:29:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:29:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:29:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1602 [save_utils.py: 703] +05/26 23:29:36 INFO: [Worker 0] Successfully saved trajectory data for house_1602 in 2.40s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/26 23:29:37 WARNING: [Worker 0] No trajectory data to save for house_1602 [pipeline.py: 229] +05/26 23:29:37 INFO: [Worker 0] Worker 0 completed house 1602: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:29:37 INFO: [Worker 0] Worker 0 starting house 1700 (index 14/115) [pipeline.py: 473] +05/26 23:29:37 INFO: [Worker 0] Loaded 1 episodes for house 1700 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 23:29:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:30:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1700_ceiling.xml [task_sampler.py: 797] +05/26 23:30:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1700, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:30:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:30:21 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects [json_eval_task_sampler.py: 686] +05/26 23:30:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:30:21 INFO: [Worker 0] Sampled task 'Pick up the vibrant purple artificial flower with stem and place it next to the open brown cardboard storage box' [task_sampler.py: 1136] +05/26 23:30:21 INFO: [Worker 0] Worker 0 house 1700 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:30:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:30:21 WARNING: [Worker 0] Could not find object objatoyrocket_d55375337d624047a92b414be8daed92_1_0_4 in scene [object_manager.py: 1238] +05/26 23:30:21 WARNING: [Worker 0] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene [object_manager.py: 1238] +05/26 23:31:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:46:12 INFO: [Worker 0] Worker 0 house 1700 episode 0 object objaartificialflower_6f3a95b0c03144d4831483daed751ca8_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 23:46:16 INFO: [Worker 0] Batching and saving trajectory data for house_1700: 1 episodes [pipeline.py: 233] +05/26 23:46:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:46:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:46:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1700 [save_utils.py: 703] +05/26 23:46:19 INFO: [Worker 0] Successfully saved trajectory data for house_1700 in 2.81s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/26 23:46:19 WARNING: [Worker 0] No trajectory data to save for house_1700 [pipeline.py: 229] +05/26 23:46:19 INFO: [Worker 0] Worker 0 completed house 1700: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:46:19 INFO: [Worker 0] Worker 0 starting house 1771 (index 15/115) [pipeline.py: 473] +05/26 23:46:19 INFO: [Worker 0] Loaded 1 episodes for house 1771 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 23:46:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:46:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1771_ceiling.xml [task_sampler.py: 797] +05/26 23:46:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1771, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:46:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:46:24 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/26 23:46:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:46:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:46:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:46:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:46:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:46:24 INFO: [Worker 0] Sampled task 'Pick up the intricate vintage parchment ribbon and place it next to the dark matte cup with grooves' [task_sampler.py: 1136] +05/26 23:46:24 INFO: [Worker 0] Worker 0 house 1771 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:46:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:48:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:58:40 INFO: [Worker 0] Worker 0 house 1771 episode 0 object objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 23:58:44 INFO: [Worker 0] Batching and saving trajectory data for house_1771: 1 episodes [pipeline.py: 233] +05/26 23:58:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:58:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:58:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1771 [save_utils.py: 703] +05/26 23:58:47 INFO: [Worker 0] Successfully saved trajectory data for house_1771 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/26 23:58:48 WARNING: [Worker 0] No trajectory data to save for house_1771 [pipeline.py: 229] +05/26 23:58:48 INFO: [Worker 0] Worker 0 completed house 1771: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:58:48 INFO: [Worker 0] Worker 0 starting house 1886 (index 16/115) [pipeline.py: 473] +05/26 23:58:48 INFO: [Worker 0] Loaded 1 episodes for house 1886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/26 23:58:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:02:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1886_ceiling.xml [task_sampler.py: 797] +05/27 00:02:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1886, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:02:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:02:44 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/27 00:02:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:02:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:02:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:02:44 INFO: [Worker 0] Sampled task 'Pick up the blue ceramic bowl and place it next to the soap bottle' [task_sampler.py: 1136] +05/27 00:02:44 INFO: [Worker 0] Worker 0 house 1886 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:02:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:02:44 WARNING: [Worker 0] Could not find object pillow_6452090508df9a6b064d30e3553d5969_1_0_6 in scene [object_manager.py: 1238] +05/27 00:02:44 WARNING: [Worker 0] Could not find object alarmclock_c3140ad00db4cb9c43915d10d03cd1b9_1_0_6 in scene [object_manager.py: 1238] +05/27 00:04:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:19:59 INFO: [Worker 0] Worker 0 house 1886 episode 0 object bowl_344f5d88e6486f071740266b3cc43858_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 00:20:03 INFO: [Worker 0] Batching and saving trajectory data for house_1886: 1 episodes [pipeline.py: 233] +05/27 00:20:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:20:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:20:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1886 [save_utils.py: 703] +05/27 00:20:05 INFO: [Worker 0] Successfully saved trajectory data for house_1886 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 00:20:06 WARNING: [Worker 0] No trajectory data to save for house_1886 [pipeline.py: 229] +05/27 00:20:06 INFO: [Worker 0] Worker 0 completed house 1886: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:20:06 INFO: [Worker 0] Worker 0 starting house 1963 (index 17/115) [pipeline.py: 473] +05/27 00:20:06 INFO: [Worker 0] Loaded 2 episodes for house 1963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 00:20:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:22:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1963_ceiling.xml [task_sampler.py: 797] +05/27 00:22:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1963, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:22:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:22:57 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/27 00:22:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:22:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:22:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:22:57 INFO: [Worker 0] Sampled task 'Pick up the black logo featuring yellow car silhouette and place it next to the butterfly knife with colorful gradient blade' [task_sampler.py: 1136] +05/27 00:22:57 INFO: [Worker 0] Worker 0 house 1963 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 00:22:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:24:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:32:32 INFO: [Worker 0] Worker 0 house 1963 episode 0 object objalogo_df86b5ef4e054efca6be94242016e748_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 00:32:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:32:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1963_ceiling.xml [task_sampler.py: 797] +05/27 00:32:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1963, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:32:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:32:38 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/27 00:32:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:32:38 INFO: [Worker 0] Sampled task 'Pick up the compact olive green emergency radio and place it next to the butterfly knife with colorful gradient blade' [task_sampler.py: 1136] +05/27 00:32:38 INFO: [Worker 0] Worker 0 house 1963 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 00:32:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:34:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:42:13 INFO: [Worker 0] Worker 0 house 1963 episode 1 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 00:42:17 INFO: [Worker 0] Batching and saving trajectory data for house_1963: 2 episodes [pipeline.py: 233] +05/27 00:42:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:42:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:42:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:42:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:42:21 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1963 [save_utils.py: 703] +05/27 00:42:21 INFO: [Worker 0] Successfully saved trajectory data for house_1963 in 4.86s (batch: 4.69s, save: 0.17s) [pipeline.py: 280] +05/27 00:42:22 WARNING: [Worker 0] No trajectory data to save for house_1963 [pipeline.py: 229] +05/27 00:42:22 INFO: [Worker 0] Worker 0 completed house 1963: 0/2 successful episodes [pipeline.py: 1243] +05/27 00:42:22 INFO: [Worker 0] Worker 0 starting house 1972 (index 18/115) [pipeline.py: 473] +05/27 00:42:22 INFO: [Worker 0] Loaded 1 episodes for house 1972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 00:42:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:42:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1972_ceiling.xml [task_sampler.py: 797] +05/27 00:42:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1972, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:42:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:42:25 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/27 00:42:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:42:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:42:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:42:25 INFO: [Worker 0] Sampled task 'Pick up the realistic human hand and place it next to the glossy ripe red tomato with stem' [task_sampler.py: 1136] +05/27 00:42:25 INFO: [Worker 0] Worker 0 house 1972 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:42:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:44:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:53:25 INFO: [Worker 0] Worker 0 house 1972 episode 0 object objahandmodel_3a3eb7eda5294f4893fb8236199aea06_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 00:53:29 INFO: [Worker 0] Batching and saving trajectory data for house_1972: 1 episodes [pipeline.py: 233] +05/27 00:53:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:53:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:53:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1972 [save_utils.py: 703] +05/27 00:53:31 INFO: [Worker 0] Successfully saved trajectory data for house_1972 in 2.38s (batch: 2.29s, save: 0.09s) [pipeline.py: 280] +05/27 00:53:32 WARNING: [Worker 0] No trajectory data to save for house_1972 [pipeline.py: 229] +05/27 00:53:32 INFO: [Worker 0] Worker 0 completed house 1972: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:53:32 INFO: [Worker 0] Worker 0 starting house 2037 (index 19/115) [pipeline.py: 473] +05/27 00:53:32 INFO: [Worker 0] Loaded 1 episodes for house 2037 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 00:53:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:55:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2037_ceiling.xml [task_sampler.py: 797] +05/27 00:55:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2037, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:55:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:55:50 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/27 00:55:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:55:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:55:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:55:50 INFO: [Worker 0] Sampled task 'Pick up the blue disc with thumbs-up and place it next to the dark square switch plate with screws' [task_sampler.py: 1136] +05/27 00:55:50 INFO: [Worker 0] Worker 0 house 2037 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:55:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:55:50 WARNING: [Worker 0] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene [object_manager.py: 1238] +05/27 00:55:50 WARNING: [Worker 0] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_2_0_5 in scene [object_manager.py: 1238] +05/27 00:57:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:12:49 INFO: [Worker 0] Worker 0 house 2037 episode 0 object objadecorativesymbol_9a0a54db263b4f1a8cdeed4187e70869_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 01:12:52 INFO: [Worker 0] Batching and saving trajectory data for house_2037: 1 episodes [pipeline.py: 233] +05/27 01:12:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:12:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:12:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2037 [save_utils.py: 703] +05/27 01:12:55 INFO: [Worker 0] Successfully saved trajectory data for house_2037 in 2.51s (batch: 2.43s, save: 0.09s) [pipeline.py: 280] +05/27 01:12:55 WARNING: [Worker 0] No trajectory data to save for house_2037 [pipeline.py: 229] +05/27 01:12:55 INFO: [Worker 0] Worker 0 completed house 2037: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:12:55 INFO: [Worker 0] Worker 0 starting house 2151 (index 20/115) [pipeline.py: 473] +05/27 01:12:55 INFO: [Worker 0] Loaded 1 episodes for house 2151 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 01:12:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:13:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2151_ceiling.xml [task_sampler.py: 797] +05/27 01:13:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2151, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:13:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:13:01 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 01:13:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:13:01 INFO: [Worker 0] Sampled task 'Pick up the handmade mallet with stones and place it next to the cleaning product' [task_sampler.py: 1136] +05/27 01:13:01 INFO: [Worker 0] Worker 0 house 2151 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:13:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:13:01 WARNING: [Worker 0] Could not find object objabranch_c8fd0c9188a4425da438b523e548260a_1_0_6 in scene [object_manager.py: 1238] +05/27 01:13:01 WARNING: [Worker 0] Could not find object objadecorativestone_a19f0e4b24284b9294c0b64bb1a3f35a_1_0_6 in scene [object_manager.py: 1238] +05/27 01:14:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:28:45 INFO: [Worker 0] Worker 0 house 2151 episode 0 object objadecorativemallet_c9c8c6e330c94b55a830e67d1529cb1f_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 01:28:49 INFO: [Worker 0] Batching and saving trajectory data for house_2151: 1 episodes [pipeline.py: 233] +05/27 01:28:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:28:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:28:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2151 [save_utils.py: 703] +05/27 01:28:52 INFO: [Worker 0] Successfully saved trajectory data for house_2151 in 2.93s (batch: 2.83s, save: 0.10s) [pipeline.py: 280] +05/27 01:28:53 WARNING: [Worker 0] No trajectory data to save for house_2151 [pipeline.py: 229] +05/27 01:28:53 INFO: [Worker 0] Worker 0 completed house 2151: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:28:53 INFO: [Worker 0] Worker 0 starting house 2256 (index 21/115) [pipeline.py: 473] +05/27 01:28:53 INFO: [Worker 0] Loaded 1 episodes for house 2256 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 01:28:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:29:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2256_ceiling.xml [task_sampler.py: 797] +05/27 01:29:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2256, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:29:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:29:42 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 01:29:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:29:42 INFO: [Worker 0] Sampled task 'Pick up the rectangular wooden luggage tag with engraving and place it next to the vintage instant camera with rainbow stripe' [task_sampler.py: 1136] +05/27 01:29:42 INFO: [Worker 0] Worker 0 house 2256 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:29:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:31:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:43:10 INFO: [Worker 0] Worker 0 house 2256 episode 0 object objaluggagetag_8564a22483104f8aac76a02c12db952a_2_0_6 completed with success=False [pipeline.py: 1114] +05/27 01:43:13 INFO: [Worker 0] Batching and saving trajectory data for house_2256: 1 episodes [pipeline.py: 233] +05/27 01:43:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:43:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:43:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2256 [save_utils.py: 703] +05/27 01:43:16 INFO: [Worker 0] Successfully saved trajectory data for house_2256 in 2.44s (batch: 2.35s, save: 0.09s) [pipeline.py: 280] +05/27 01:43:16 WARNING: [Worker 0] No trajectory data to save for house_2256 [pipeline.py: 229] +05/27 01:43:16 INFO: [Worker 0] Worker 0 completed house 2256: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:43:16 INFO: [Worker 0] Worker 0 starting house 2363 (index 22/115) [pipeline.py: 473] +05/27 01:43:16 INFO: [Worker 0] Loaded 1 episodes for house 2363 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 01:43:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:43:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2363_ceiling.xml [task_sampler.py: 797] +05/27 01:43:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2363, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:43:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:43:20 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 01:43:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:43:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:43:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:43:20 INFO: [Worker 0] Sampled task 'Pick up the vintage metal kerosene lantern and place it next to the irregular patch of ground' [task_sampler.py: 1136] +05/27 01:43:20 INFO: [Worker 0] Worker 0 house 2363 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:43:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:43:20 WARNING: [Worker 0] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene [object_manager.py: 1238] +05/27 01:43:20 WARNING: [Worker 0] Could not find object objaaerosolcan_6275746374cf4768bbe8d2dcfeefb596_1_0_5 in scene [object_manager.py: 1238] +05/27 01:57:20 INFO: [Worker 0] Worker 0 house 2363 episode 0 object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 01:57:24 INFO: [Worker 0] Batching and saving trajectory data for house_2363: 1 episodes [pipeline.py: 233] +05/27 01:57:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:57:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:57:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2363 [save_utils.py: 703] +05/27 01:57:26 INFO: [Worker 0] Successfully saved trajectory data for house_2363 in 2.42s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 01:57:27 WARNING: [Worker 0] No trajectory data to save for house_2363 [pipeline.py: 229] +05/27 01:57:27 INFO: [Worker 0] Worker 0 completed house 2363: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:57:27 INFO: [Worker 0] Worker 0 starting house 2467 (index 23/115) [pipeline.py: 473] +05/27 01:57:27 INFO: [Worker 0] Loaded 1 episodes for house 2467 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 01:57:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:57:29 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 01:57:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2467_ceiling.xml [task_sampler.py: 797] +05/27 01:57:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2467, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:57:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:57:32 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/27 01:57:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:57:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:57:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:57:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:57:32 INFO: [Worker 0] Sampled task 'Pick up the hexagonal dark stone platform and place it next to the stylized orange butterfly with brown body' [task_sampler.py: 1136] +05/27 01:57:32 INFO: [Worker 0] Worker 0 house 2467 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:57:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:57:32 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 01:57:32 WARNING: [Worker 0] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene [object_manager.py: 1238] +05/27 01:57:32 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/27 02:16:27 INFO: [Worker 0] Worker 0 house 2467 episode 0 object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 02:16:31 INFO: [Worker 0] Batching and saving trajectory data for house_2467: 1 episodes [pipeline.py: 233] +05/27 02:16:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:16:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:16:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2467 [save_utils.py: 703] +05/27 02:16:34 INFO: [Worker 0] Successfully saved trajectory data for house_2467 in 2.84s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 02:16:34 WARNING: [Worker 0] No trajectory data to save for house_2467 [pipeline.py: 229] +05/27 02:16:34 INFO: [Worker 0] Worker 0 completed house 2467: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:16:34 INFO: [Worker 0] Worker 0 starting house 2523 (index 24/115) [pipeline.py: 473] +05/27 02:16:34 INFO: [Worker 0] Loaded 1 episodes for house 2523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 02:16:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:16:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2523_ceiling.xml [task_sampler.py: 797] +05/27 02:16:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2523, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:16:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:16:39 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 02:16:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:16:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:16:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:16:39 INFO: [Worker 0] Sampled task 'Pick up the sharp butterfly knife with wood and place it next to the glossy yellow ceramic vase' [task_sampler.py: 1136] +05/27 02:16:39 INFO: [Worker 0] Worker 0 house 2523 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:16:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:16:39 WARNING: [Worker 0] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_3 in scene [object_manager.py: 1238] +05/27 02:16:39 WARNING: [Worker 0] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_3 in scene [object_manager.py: 1238] +05/27 02:18:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:31:15 INFO: [Worker 0] Worker 0 house 2523 episode 0 object objabutterflyknife_8e74e69fda494c5e8d4ae75afa1e7df7_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 02:31:19 INFO: [Worker 0] Batching and saving trajectory data for house_2523: 1 episodes [pipeline.py: 233] +05/27 02:31:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:31:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:31:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2523 [save_utils.py: 703] +05/27 02:31:21 INFO: [Worker 0] Successfully saved trajectory data for house_2523 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 02:31:22 WARNING: [Worker 0] No trajectory data to save for house_2523 [pipeline.py: 229] +05/27 02:31:22 INFO: [Worker 0] Worker 0 completed house 2523: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:31:22 INFO: [Worker 0] Worker 0 starting house 2676 (index 25/115) [pipeline.py: 473] +05/27 02:31:22 INFO: [Worker 0] Loaded 1 episodes for house 2676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 02:31:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:31:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2676_ceiling.xml [task_sampler.py: 797] +05/27 02:31:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2676, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:31:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:31:40 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/27 02:31:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:31:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:31:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:31:40 INFO: [Worker 0] Sampled task 'Pick up the compact wooden radio with display and place it next to the light brown ceramic bowl' [task_sampler.py: 1136] +05/27 02:31:40 INFO: [Worker 0] Worker 0 house 2676 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:31:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:31:40 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene [object_manager.py: 1238] +05/27 02:31:40 WARNING: [Worker 0] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene [object_manager.py: 1238] +05/27 02:33:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:43:22 INFO: [Worker 0] Worker 0 house 2676 episode 0 object objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 02:43:26 INFO: [Worker 0] Batching and saving trajectory data for house_2676: 1 episodes [pipeline.py: 233] +05/27 02:43:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:43:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:43:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2676 [save_utils.py: 703] +05/27 02:43:28 INFO: [Worker 0] Successfully saved trajectory data for house_2676 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 02:43:29 WARNING: [Worker 0] No trajectory data to save for house_2676 [pipeline.py: 229] +05/27 02:43:29 INFO: [Worker 0] Worker 0 completed house 2676: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:43:29 INFO: [Worker 0] Worker 0 starting house 2791 (index 26/115) [pipeline.py: 473] +05/27 02:43:29 INFO: [Worker 0] Loaded 1 episodes for house 2791 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 02:43:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:43:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2791_ceiling.xml [task_sampler.py: 797] +05/27 02:43:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2791, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:43:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:43:37 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/27 02:43:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:43:37 INFO: [Worker 0] Sampled task 'Pick up the purple pekito chocolate snack package and place it next to the breadstuff' [task_sampler.py: 1136] +05/27 02:43:37 INFO: [Worker 0] Worker 0 house 2791 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:43:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:59:05 INFO: [Worker 0] Worker 0 house 2791 episode 0 object objasnackpackage_569da04563544734bd90630d57fc7be2_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 02:59:09 INFO: [Worker 0] Batching and saving trajectory data for house_2791: 1 episodes [pipeline.py: 233] +05/27 02:59:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:59:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:59:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2791 [save_utils.py: 703] +05/27 02:59:11 INFO: [Worker 0] Successfully saved trajectory data for house_2791 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 02:59:12 WARNING: [Worker 0] No trajectory data to save for house_2791 [pipeline.py: 229] +05/27 02:59:12 INFO: [Worker 0] Worker 0 completed house 2791: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:59:12 INFO: [Worker 0] Worker 0 starting house 2861 (index 27/115) [pipeline.py: 473] +05/27 02:59:12 INFO: [Worker 0] Loaded 1 episodes for house 2861 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 02:59:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:59:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2861_ceiling.xml [task_sampler.py: 797] +05/27 02:59:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2861, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:59:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:59:16 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 02:59:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:59:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:59:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:59:16 INFO: [Worker 0] Sampled task 'Pick up the badge and place it next to the foodstuff' [task_sampler.py: 1136] +05/27 02:59:16 INFO: [Worker 0] Worker 0 house 2861 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:59:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:59:16 WARNING: [Worker 0] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 in scene [object_manager.py: 1238] +05/27 02:59:16 WARNING: [Worker 0] Could not find object objarocketmodel_0426922358b4444f9887bcd551d3a5cb_1_0_7 in scene [object_manager.py: 1238] +05/27 02:59:16 WARNING: [Worker 0] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_7 in scene [object_manager.py: 1238] +05/27 03:00:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:09:39 INFO: [Worker 0] Worker 0 house 2861 episode 0 object objabadge_7a552ea892ef4891890ee98ad3c99cdd_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 03:09:43 INFO: [Worker 0] Batching and saving trajectory data for house_2861: 1 episodes [pipeline.py: 233] +05/27 03:09:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:09:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:09:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2861 [save_utils.py: 703] +05/27 03:09:46 INFO: [Worker 0] Successfully saved trajectory data for house_2861 in 2.81s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 03:09:46 WARNING: [Worker 0] No trajectory data to save for house_2861 [pipeline.py: 229] +05/27 03:09:46 INFO: [Worker 0] Worker 0 completed house 2861: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:09:46 INFO: [Worker 0] Worker 0 starting house 2963 (index 28/115) [pipeline.py: 473] +05/27 03:09:46 INFO: [Worker 0] Loaded 1 episodes for house 2963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 03:09:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:09:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2963_ceiling.xml [task_sampler.py: 797] +05/27 03:09:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2963, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:09:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:09:53 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 03:09:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:09:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:09:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:09:53 INFO: [Worker 0] Sampled task 'Pick up the light green plastic garden hose nozzle and place it next to the fresh green leafy lettuce' [task_sampler.py: 1136] +05/27 03:09:53 INFO: [Worker 0] Worker 0 house 2963 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:09:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:11:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:19:33 INFO: [Worker 0] Worker 0 house 2963 episode 0 object objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:19:36 INFO: [Worker 0] Batching and saving trajectory data for house_2963: 1 episodes [pipeline.py: 233] +05/27 03:19:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:19:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:19:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2963 [save_utils.py: 703] +05/27 03:19:39 INFO: [Worker 0] Successfully saved trajectory data for house_2963 in 2.79s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 03:19:40 WARNING: [Worker 0] No trajectory data to save for house_2963 [pipeline.py: 229] +05/27 03:19:40 INFO: [Worker 0] Worker 0 completed house 2963: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:19:40 INFO: [Worker 0] Worker 0 starting house 3056 (index 29/115) [pipeline.py: 473] +05/27 03:19:40 INFO: [Worker 0] Loaded 1 episodes for house 3056 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 03:19:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:19:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3056_ceiling.xml [task_sampler.py: 797] +05/27 03:19:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3056, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:19:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:19:47 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/27 03:19:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:19:47 INFO: [Worker 0] Sampled task 'Pick up the white aerodynamic shell and place it next to the slim rectangular metallic phone' [task_sampler.py: 1136] +05/27 03:19:47 INFO: [Worker 0] Worker 0 house 3056 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:19:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:32:10 INFO: [Worker 0] Worker 0 house 3056 episode 0 object objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 03:32:14 INFO: [Worker 0] Batching and saving trajectory data for house_3056: 1 episodes [pipeline.py: 233] +05/27 03:32:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:32:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:32:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3056 [save_utils.py: 703] +05/27 03:32:16 INFO: [Worker 0] Successfully saved trajectory data for house_3056 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 03:32:17 WARNING: [Worker 0] No trajectory data to save for house_3056 [pipeline.py: 229] +05/27 03:32:17 INFO: [Worker 0] Worker 0 completed house 3056: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:32:17 INFO: [Worker 0] Worker 0 starting house 3199 (index 30/115) [pipeline.py: 473] +05/27 03:32:17 INFO: [Worker 0] Loaded 1 episodes for house 3199 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 03:32:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:32:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3199_ceiling.xml [task_sampler.py: 797] +05/27 03:32:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3199, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:32:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:32:24 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 03:32:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:32:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:32:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:32:24 INFO: [Worker 0] Sampled task 'Pick up the transparent flask with vibrant purple liquid and place it next to the breadstuff' [task_sampler.py: 1136] +05/27 03:32:24 INFO: [Worker 0] Worker 0 house 3199 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:32:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:34:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:44:55 INFO: [Worker 0] Worker 0 house 3199 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 03:44:59 INFO: [Worker 0] Batching and saving trajectory data for house_3199: 1 episodes [pipeline.py: 233] +05/27 03:44:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:45:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:45:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3199 [save_utils.py: 703] +05/27 03:45:02 INFO: [Worker 0] Successfully saved trajectory data for house_3199 in 2.95s (batch: 2.86s, save: 0.10s) [pipeline.py: 280] +05/27 03:45:02 WARNING: [Worker 0] No trajectory data to save for house_3199 [pipeline.py: 229] +05/27 03:45:02 INFO: [Worker 0] Worker 0 completed house 3199: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:45:02 INFO: [Worker 0] Worker 0 starting house 3262 (index 31/115) [pipeline.py: 473] +05/27 03:45:02 INFO: [Worker 0] Loaded 1 episodes for house 3262 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 03:45:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:45:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3262_ceiling.xml [task_sampler.py: 797] +05/27 03:45:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3262, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:45:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:45:05 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects [json_eval_task_sampler.py: 686] +05/27 03:45:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:45:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:45:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:45:05 INFO: [Worker 0] Sampled task 'Pick up the folded newspaper paper boat and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 03:45:05 INFO: [Worker 0] Worker 0 house 3262 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:45:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:46:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:51:43 INFO: [Worker 0] Worker 0 house 3262 episode 0 object objapaperboat_e7ea8f4837354f6da7e4c4c9ee986ff1_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:51:47 INFO: [Worker 0] Batching and saving trajectory data for house_3262: 1 episodes [pipeline.py: 233] +05/27 03:51:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:51:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:51:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3262 [save_utils.py: 703] +05/27 03:51:50 INFO: [Worker 0] Successfully saved trajectory data for house_3262 in 2.75s (batch: 2.66s, save: 0.09s) [pipeline.py: 280] +05/27 03:51:51 WARNING: [Worker 0] No trajectory data to save for house_3262 [pipeline.py: 229] +05/27 03:51:51 INFO: [Worker 0] Worker 0 completed house 3262: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:51:51 INFO: [Worker 0] Worker 0 starting house 3286 (index 32/115) [pipeline.py: 473] +05/27 03:51:51 INFO: [Worker 0] Loaded 1 episodes for house 3286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 03:51:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:51:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3286_ceiling.xml [task_sampler.py: 797] +05/27 03:51:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3286, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:51:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:51:53 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 03:51:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:51:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:51:53 INFO: [Worker 0] Sampled task 'Pick up the smooth wooden rod and place it next to the round brown bread loaf' [task_sampler.py: 1136] +05/27 03:51:53 INFO: [Worker 0] Worker 0 house 3286 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:51:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:53:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:01:47 INFO: [Worker 0] Worker 0 house 3286 episode 0 object objawoodenrod_bdf07f6c648b4d74af80ea7103ac384c_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 04:01:51 INFO: [Worker 0] Batching and saving trajectory data for house_3286: 1 episodes [pipeline.py: 233] +05/27 04:01:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:01:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:01:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3286 [save_utils.py: 703] +05/27 04:01:54 INFO: [Worker 0] Successfully saved trajectory data for house_3286 in 2.92s (batch: 2.82s, save: 0.10s) [pipeline.py: 280] +05/27 04:01:55 WARNING: [Worker 0] No trajectory data to save for house_3286 [pipeline.py: 229] +05/27 04:01:55 INFO: [Worker 0] Worker 0 completed house 3286: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:01:55 INFO: [Worker 0] Worker 0 starting house 3381 (index 33/115) [pipeline.py: 473] +05/27 04:01:55 INFO: [Worker 0] Loaded 1 episodes for house 3381 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 04:01:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:02:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3381_ceiling.xml [task_sampler.py: 797] +05/27 04:02:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3381, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:02:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:02:04 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 04:02:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:02:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:02:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:02:04 INFO: [Worker 0] Sampled task 'Pick up the orange plastic funnel and place it next to the transparent tall wine glass' [task_sampler.py: 1136] +05/27 04:02:04 INFO: [Worker 0] Worker 0 house 3381 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:02:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:03:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:13:30 INFO: [Worker 0] Worker 0 house 3381 episode 0 object objafunnel_19cc6aeef5a245d5805be62c0473fb94_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 04:13:33 INFO: [Worker 0] Batching and saving trajectory data for house_3381: 1 episodes [pipeline.py: 233] +05/27 04:13:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:13:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:13:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3381 [save_utils.py: 703] +05/27 04:13:35 INFO: [Worker 0] Successfully saved trajectory data for house_3381 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 04:13:36 WARNING: [Worker 0] No trajectory data to save for house_3381 [pipeline.py: 229] +05/27 04:13:36 INFO: [Worker 0] Worker 0 completed house 3381: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:13:36 INFO: [Worker 0] Worker 0 starting house 3441 (index 34/115) [pipeline.py: 473] +05/27 04:13:36 INFO: [Worker 0] Loaded 1 episodes for house 3441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 04:13:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:13:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3441_ceiling.xml [task_sampler.py: 797] +05/27 04:13:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3441, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:13:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:13:49 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/27 04:13:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:13:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:13:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:13:49 INFO: [Worker 0] Sampled task 'Pick up the miniature stone tower and place it next to the castle tower with turrets' [task_sampler.py: 1136] +05/27 04:13:49 INFO: [Worker 0] Worker 0 house 3441 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:13:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:30:07 INFO: [Worker 0] Worker 0 house 3441 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 04:30:10 INFO: [Worker 0] Batching and saving trajectory data for house_3441: 1 episodes [pipeline.py: 233] +05/27 04:30:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:30:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:30:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3441 [save_utils.py: 703] +05/27 04:30:13 INFO: [Worker 0] Successfully saved trajectory data for house_3441 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/27 04:30:13 WARNING: [Worker 0] No trajectory data to save for house_3441 [pipeline.py: 229] +05/27 04:30:13 INFO: [Worker 0] Worker 0 completed house 3441: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:30:13 INFO: [Worker 0] Worker 0 starting house 3527 (index 35/115) [pipeline.py: 473] +05/27 04:30:13 INFO: [Worker 0] Loaded 1 episodes for house 3527 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 04:30:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:30:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3527_ceiling.xml [task_sampler.py: 797] +05/27 04:30:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3527, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:30:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:30:25 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/27 04:30:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:30:25 INFO: [Worker 0] Sampled task 'Pick up the compact black reflex sight and place it next to the large black hardcover book' [task_sampler.py: 1136] +05/27 04:30:25 INFO: [Worker 0] Worker 0 house 3527 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:30:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:47:19 INFO: [Worker 0] Worker 0 house 3527 episode 0 object objareflexsight_0cf999d9363940c2b149dcd80c448554_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 04:47:23 INFO: [Worker 0] Batching and saving trajectory data for house_3527: 1 episodes [pipeline.py: 233] +05/27 04:47:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:47:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:47:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3527 [save_utils.py: 703] +05/27 04:47:26 INFO: [Worker 0] Successfully saved trajectory data for house_3527 in 2.85s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/27 04:47:27 WARNING: [Worker 0] No trajectory data to save for house_3527 [pipeline.py: 229] +05/27 04:47:27 INFO: [Worker 0] Worker 0 completed house 3527: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:47:27 INFO: [Worker 0] Worker 0 starting house 3631 (index 36/115) [pipeline.py: 473] +05/27 04:47:27 INFO: [Worker 0] Loaded 1 episodes for house 3631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 04:47:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:47:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3631_ceiling.xml [task_sampler.py: 797] +05/27 04:47:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3631, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:47:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:47:29 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/27 04:47:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:47:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:47:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:47:29 INFO: [Worker 0] Sampled task 'Pick up the gray pyramid die with turquoise numbers and place it next to the small decorative green indoor plant' [task_sampler.py: 1136] +05/27 04:47:29 INFO: [Worker 0] Worker 0 house 3631 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:47:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:49:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:57:11 INFO: [Worker 0] Worker 0 house 3631 episode 0 object objadie_7dadee868cb5440a909202978960e4f0_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 04:57:14 INFO: [Worker 0] Batching and saving trajectory data for house_3631: 1 episodes [pipeline.py: 233] +05/27 04:57:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:57:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:57:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3631 [save_utils.py: 703] +05/27 04:57:17 INFO: [Worker 0] Successfully saved trajectory data for house_3631 in 2.44s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 04:57:17 WARNING: [Worker 0] No trajectory data to save for house_3631 [pipeline.py: 229] +05/27 04:57:17 INFO: [Worker 0] Worker 0 completed house 3631: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:57:17 INFO: [Worker 0] Worker 0 starting house 3723 (index 37/115) [pipeline.py: 473] +05/27 04:57:17 INFO: [Worker 0] Loaded 1 episodes for house 3723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 04:57:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:57:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3723_ceiling.xml [task_sampler.py: 797] +05/27 04:57:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3723, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:57:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:57:19 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/27 04:57:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:57:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:57:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:57:19 INFO: [Worker 0] Sampled task 'Pick up the translucent blue soap bottle and place it next to the worn brown glove' [task_sampler.py: 1136] +05/27 04:57:19 INFO: [Worker 0] Worker 0 house 3723 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:57:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:57:19 WARNING: [Worker 0] Could not find object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 in scene [object_manager.py: 1238] +05/27 04:57:19 WARNING: [Worker 0] Could not find object objalicenseplate_de125bed7cf34a688c3b350458528c29_1_0_6 in scene [object_manager.py: 1238] +05/27 04:58:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:06:01 INFO: [Worker 0] Worker 0 house 3723 episode 0 object soapdispenser_0267abb541e75de6e7634578b1e18027_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 05:06:05 INFO: [Worker 0] Batching and saving trajectory data for house_3723: 1 episodes [pipeline.py: 233] +05/27 05:06:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:06:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:06:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3723 [save_utils.py: 703] +05/27 05:06:08 INFO: [Worker 0] Successfully saved trajectory data for house_3723 in 2.87s (batch: 2.78s, save: 0.09s) [pipeline.py: 280] +05/27 05:06:09 WARNING: [Worker 0] No trajectory data to save for house_3723 [pipeline.py: 229] +05/27 05:06:09 INFO: [Worker 0] Worker 0 completed house 3723: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:06:09 INFO: [Worker 0] Worker 0 starting house 3776 (index 38/115) [pipeline.py: 473] +05/27 05:06:09 INFO: [Worker 0] Loaded 1 episodes for house 3776 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 05:06:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:06:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3776_ceiling.xml [task_sampler.py: 797] +05/27 05:06:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3776, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:06:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:06:13 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 05:06:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:06:13 INFO: [Worker 0] Sampled task 'Pick up the large olive green clothespin with spring and place it next to the metal lever with base' [task_sampler.py: 1136] +05/27 05:06:13 INFO: [Worker 0] Worker 0 house 3776 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:06:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:21:26 INFO: [Worker 0] Worker 0 house 3776 episode 0 object objaclothespin_42ca19f6f28340d090ed5773924f5f83_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 05:21:30 INFO: [Worker 0] Batching and saving trajectory data for house_3776: 1 episodes [pipeline.py: 233] +05/27 05:21:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:21:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:21:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3776 [save_utils.py: 703] +05/27 05:21:33 INFO: [Worker 0] Successfully saved trajectory data for house_3776 in 2.85s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 05:21:33 WARNING: [Worker 0] No trajectory data to save for house_3776 [pipeline.py: 229] +05/27 05:21:33 INFO: [Worker 0] Worker 0 completed house 3776: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:21:33 INFO: [Worker 0] Worker 0 starting house 3912 (index 39/115) [pipeline.py: 473] +05/27 05:21:33 INFO: [Worker 0] Loaded 1 episodes for house 3912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 05:21:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:21:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3912_ceiling.xml [task_sampler.py: 797] +05/27 05:21:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3912, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:21:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:21:41 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 05:21:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:21:41 INFO: [Worker 0] Sampled task 'Pick up the black and pink figure and place it next to the colorful bird with pink beak' [task_sampler.py: 1136] +05/27 05:21:41 INFO: [Worker 0] Worker 0 house 3912 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:21:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:21:41 WARNING: [Worker 0] Could not find object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_3 in scene [object_manager.py: 1238] +05/27 05:21:41 WARNING: [Worker 0] Could not find object objacandle_bad11b50862f471a9dc45ecee981603f_1_0_5 in scene [object_manager.py: 1238] +05/27 05:21:41 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene [object_manager.py: 1238] +05/27 05:21:41 WARNING: [Worker 0] Could not find object objapocketwatch_6628f95227c24e07ab786e2368171656_1_0_5 in scene [object_manager.py: 1238] +05/27 05:21:41 WARNING: [Worker 0] Could not find object pencil_8c95dcf230a14c4834feec5a2bb28749_1_0_6 in scene [object_manager.py: 1238] +05/27 05:23:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:37:17 INFO: [Worker 0] Worker 0 house 3912 episode 0 object objaabstractfigure_bed3269ce11c4c078d13536263725547_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:37:20 INFO: [Worker 0] Batching and saving trajectory data for house_3912: 1 episodes [pipeline.py: 233] +05/27 05:37:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:37:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:37:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3912 [save_utils.py: 703] +05/27 05:37:23 INFO: [Worker 0] Successfully saved trajectory data for house_3912 in 2.44s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 05:37:23 WARNING: [Worker 0] No trajectory data to save for house_3912 [pipeline.py: 229] +05/27 05:37:23 INFO: [Worker 0] Worker 0 completed house 3912: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:37:23 INFO: [Worker 0] Worker 0 starting house 4034 (index 40/115) [pipeline.py: 473] +05/27 05:37:23 INFO: [Worker 0] Loaded 1 episodes for house 4034 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 05:37:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:37:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4034_ceiling.xml [task_sampler.py: 797] +05/27 05:37:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4034, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:37:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:37:36 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects [json_eval_task_sampler.py: 686] +05/27 05:37:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:37:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:37:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:37:36 INFO: [Worker 0] Sampled task 'Pick up the wireless telephone and place it next to the dark soil slab' [task_sampler.py: 1136] +05/27 05:37:36 INFO: [Worker 0] Worker 0 house 4034 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:37:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:37:36 WARNING: [Worker 0] Could not find object objaemblem_75c82681c158404196c70e5d44d72c34_1_0_5 in scene [object_manager.py: 1238] +05/27 05:37:36 WARNING: [Worker 0] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene [object_manager.py: 1238] +05/27 05:37:36 WARNING: [Worker 0] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene [object_manager.py: 1238] +05/27 05:54:34 INFO: [Worker 0] Worker 0 house 4034 episode 0 object objavintagemobilephone_5f7dc6411ae94dd2bb98e59d83832ab1_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:54:38 INFO: [Worker 0] Batching and saving trajectory data for house_4034: 1 episodes [pipeline.py: 233] +05/27 05:54:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:54:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:54:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4034 [save_utils.py: 703] +05/27 05:54:40 INFO: [Worker 0] Successfully saved trajectory data for house_4034 in 2.50s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/27 05:54:41 WARNING: [Worker 0] No trajectory data to save for house_4034 [pipeline.py: 229] +05/27 05:54:41 INFO: [Worker 0] Worker 0 completed house 4034: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:54:41 INFO: [Worker 0] Worker 0 starting house 4136 (index 41/115) [pipeline.py: 473] +05/27 05:54:41 INFO: [Worker 0] Loaded 1 episodes for house 4136 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 05:54:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:54:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4136_ceiling.xml [task_sampler.py: 797] +05/27 05:54:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4136, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:54:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:54:49 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/27 05:54:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:54:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:54:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:54:50 INFO: [Worker 0] Sampled task 'Pick up the red and white block sign and place it next to the light gray wooden bowl' [task_sampler.py: 1136] +05/27 05:54:50 INFO: [Worker 0] Worker 0 house 4136 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:54:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:10:42 INFO: [Worker 0] Worker 0 house 4136 episode 0 object objasignage_15cd21252eda4ee780eb3be74d655d40_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 06:10:45 INFO: [Worker 0] Batching and saving trajectory data for house_4136: 1 episodes [pipeline.py: 233] +05/27 06:10:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:10:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:10:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4136 [save_utils.py: 703] +05/27 06:10:48 INFO: [Worker 0] Successfully saved trajectory data for house_4136 in 2.51s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/27 06:10:48 WARNING: [Worker 0] No trajectory data to save for house_4136 [pipeline.py: 229] +05/27 06:10:48 INFO: [Worker 0] Worker 0 completed house 4136: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:10:48 INFO: [Worker 0] Worker 0 starting house 4184 (index 42/115) [pipeline.py: 473] +05/27 06:10:48 INFO: [Worker 0] Loaded 2 episodes for house 4184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 06:10:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:11:00 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 06:11:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4184_ceiling.xml [task_sampler.py: 797] +05/27 06:11:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4184, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:11:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:11:02 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 06:11:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:11:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:11:02 INFO: [Worker 0] Sampled task 'Pick up the dark tool and place it next to the light blue cat with yellow patterns' [task_sampler.py: 1136] +05/27 06:11:02 INFO: [Worker 0] Worker 0 house 4184 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 06:11:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:11:02 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene [object_manager.py: 1238] +05/27 06:12:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:23:11 INFO: [Worker 0] Worker 0 house 4184 episode 0 object objahandtool_ff7b35a3183f4d9fa85d14dd7309dea5_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 06:23:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:23:15 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 06:23:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4184_ceiling.xml [task_sampler.py: 797] +05/27 06:23:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4184, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:23:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:23:17 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 06:23:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:23:17 INFO: [Worker 0] Sampled task 'Pick up the blue patterned cat and place it next to the gold pump bottle' [task_sampler.py: 1136] +05/27 06:23:17 INFO: [Worker 0] Worker 0 house 4184 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 06:23:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:23:17 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene [object_manager.py: 1238] +05/27 06:24:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:35:10 INFO: [Worker 0] Worker 0 house 4184 episode 1 object objadecorativecat_1beba9b24a9143df8559410f1522aad6_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 06:35:14 INFO: [Worker 0] Batching and saving trajectory data for house_4184: 2 episodes [pipeline.py: 233] +05/27 06:35:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:35:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:35:20 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4184 [save_utils.py: 703] +05/27 06:35:20 INFO: [Worker 0] Successfully saved trajectory data for house_4184 in 5.58s (batch: 5.40s, save: 0.18s) [pipeline.py: 280] +05/27 06:35:20 WARNING: [Worker 0] No trajectory data to save for house_4184 [pipeline.py: 229] +05/27 06:35:20 INFO: [Worker 0] Worker 0 completed house 4184: 0/2 successful episodes [pipeline.py: 1243] +05/27 06:35:20 INFO: [Worker 0] Worker 0 starting house 4205 (index 43/115) [pipeline.py: 473] +05/27 06:35:20 INFO: [Worker 0] Loaded 1 episodes for house 4205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 06:35:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:35:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4205_ceiling.xml [task_sampler.py: 797] +05/27 06:35:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4205, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:35:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:35:24 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/27 06:35:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:35:24 INFO: [Worker 0] Sampled task 'Pick up the blue floral ceramic teacup with handle and place it next to the tall white candle' [task_sampler.py: 1136] +05/27 06:35:24 INFO: [Worker 0] Worker 0 house 4205 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:35:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:36:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:47:33 INFO: [Worker 0] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 06:47:37 INFO: [Worker 0] Batching and saving trajectory data for house_4205: 1 episodes [pipeline.py: 233] +05/27 06:47:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:47:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:47:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4205 [save_utils.py: 703] +05/27 06:47:40 INFO: [Worker 0] Successfully saved trajectory data for house_4205 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 06:47:40 WARNING: [Worker 0] No trajectory data to save for house_4205 [pipeline.py: 229] +05/27 06:47:40 INFO: [Worker 0] Worker 0 completed house 4205: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:47:40 INFO: [Worker 0] Worker 0 starting house 4283 (index 44/115) [pipeline.py: 473] +05/27 06:47:40 INFO: [Worker 0] Loaded 1 episodes for house 4283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 06:47:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:47:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4283_ceiling.xml [task_sampler.py: 797] +05/27 06:47:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4283, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:47:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:47:47 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/27 06:47:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:47:47 INFO: [Worker 0] Sampled task 'Pick up the matte black cylindrical suppressor and place it next to the silver bowl' [task_sampler.py: 1136] +05/27 06:47:47 INFO: [Worker 0] Worker 0 house 4283 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:47:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:49:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:59:51 INFO: [Worker 0] Worker 0 house 4283 episode 0 object objasuppressor_bc9f4829adc340aa91290494661592c4_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 06:59:54 INFO: [Worker 0] Batching and saving trajectory data for house_4283: 1 episodes [pipeline.py: 233] +05/27 06:59:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:59:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:59:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4283 [save_utils.py: 703] +05/27 06:59:57 INFO: [Worker 0] Successfully saved trajectory data for house_4283 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 06:59:58 WARNING: [Worker 0] No trajectory data to save for house_4283 [pipeline.py: 229] +05/27 06:59:58 INFO: [Worker 0] Worker 0 completed house 4283: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:59:58 INFO: [Worker 0] Worker 0 starting house 4323 (index 45/115) [pipeline.py: 473] +05/27 06:59:58 INFO: [Worker 0] Loaded 1 episodes for house 4323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 06:59:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:00:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4323_ceiling.xml [task_sampler.py: 797] +05/27 07:00:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4323, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:00:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:00:11 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/27 07:00:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:00:11 INFO: [Worker 0] Sampled task 'Pick up the sleek black calculator with buttons and place it next to the green card with flowers' [task_sampler.py: 1136] +05/27 07:00:11 INFO: [Worker 0] Worker 0 house 4323 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:00:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:00:11 WARNING: [Worker 0] Could not find object objapocketwatch_2ec1ab458bcd4ea59236bb58bc3707dd_1_0_5 in scene [object_manager.py: 1238] +05/27 07:00:11 WARNING: [Worker 0] Could not find object objadecorativetorch_fc829f78d01c451a8f3c808099691225_1_0_5 in scene [object_manager.py: 1238] +05/27 07:01:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:19:25 INFO: [Worker 0] Worker 0 house 4323 episode 0 object objacalculator_cac428295bf64df59ffad15bc3124b0a_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 07:19:29 INFO: [Worker 0] Batching and saving trajectory data for house_4323: 1 episodes [pipeline.py: 233] +05/27 07:19:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:19:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:19:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4323 [save_utils.py: 703] +05/27 07:19:31 INFO: [Worker 0] Successfully saved trajectory data for house_4323 in 2.44s (batch: 2.35s, save: 0.09s) [pipeline.py: 280] +05/27 07:19:32 WARNING: [Worker 0] No trajectory data to save for house_4323 [pipeline.py: 229] +05/27 07:19:32 INFO: [Worker 0] Worker 0 completed house 4323: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:19:32 INFO: [Worker 0] Worker 0 starting house 4398 (index 46/115) [pipeline.py: 473] +05/27 07:19:32 INFO: [Worker 0] Loaded 1 episodes for house 4398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 07:19:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:19:32 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 07:19:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4398_ceiling.xml [task_sampler.py: 797] +05/27 07:19:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4398, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:19:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:19:34 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/27 07:19:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:19:34 INFO: [Worker 0] Sampled task 'Pick up the brass astrolabe with engravings and place it next to the dark stone cylindrical seal with carvings' [task_sampler.py: 1136] +05/27 07:19:34 INFO: [Worker 0] Worker 0 house 4398 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:19:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:19:34 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene [object_manager.py: 1238] +05/27 07:21:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:28:09 INFO: [Worker 0] Worker 0 house 4398 episode 0 object objaastrolabe_530bd21edcdf4c4695cc4c8af856d6bf_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:28:12 INFO: [Worker 0] Batching and saving trajectory data for house_4398: 1 episodes [pipeline.py: 233] +05/27 07:28:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:28:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:28:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4398 [save_utils.py: 703] +05/27 07:28:15 INFO: [Worker 0] Successfully saved trajectory data for house_4398 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 07:28:15 WARNING: [Worker 0] No trajectory data to save for house_4398 [pipeline.py: 229] +05/27 07:28:15 INFO: [Worker 0] Worker 0 completed house 4398: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:28:15 INFO: [Worker 0] Worker 0 starting house 4492 (index 47/115) [pipeline.py: 473] +05/27 07:28:15 INFO: [Worker 0] Loaded 1 episodes for house 4492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 07:28:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:28:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4492_ceiling.xml [task_sampler.py: 797] +05/27 07:28:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4492, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:28:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:28:20 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 07:28:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:28:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:28:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:28:21 INFO: [Worker 0] Sampled task 'Pick up the black spiked collar and place it next to the spray bottle' [task_sampler.py: 1136] +05/27 07:28:21 INFO: [Worker 0] Worker 0 house 4492 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:28:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:34:37 INFO: [Worker 0] Worker 0 house 4492 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 07:34:41 INFO: [Worker 0] Batching and saving trajectory data for house_4492: 1 episodes [pipeline.py: 233] +05/27 07:34:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:34:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:34:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4492 [save_utils.py: 703] +05/27 07:34:44 INFO: [Worker 0] Successfully saved trajectory data for house_4492 in 2.80s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 07:34:44 WARNING: [Worker 0] No trajectory data to save for house_4492 [pipeline.py: 229] +05/27 07:34:44 INFO: [Worker 0] Worker 0 completed house 4492: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:34:44 INFO: [Worker 0] Worker 0 starting house 4610 (index 48/115) [pipeline.py: 473] +05/27 07:34:44 INFO: [Worker 0] Loaded 1 episodes for house 4610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 07:34:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:34:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4610_ceiling.xml [task_sampler.py: 797] +05/27 07:34:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4610, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:34:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:34:48 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/27 07:34:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:34:48 INFO: [Worker 0] Sampled task 'Pick up the stone hammer and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 07:34:48 INFO: [Worker 0] Worker 0 house 4610 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:34:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:36:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:43:24 INFO: [Worker 0] Worker 0 house 4610 episode 0 object objastonehammer_ad3d9fa077264d4484c91c6b05888a4e_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:43:28 INFO: [Worker 0] Batching and saving trajectory data for house_4610: 1 episodes [pipeline.py: 233] +05/27 07:43:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:43:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:43:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4610 [save_utils.py: 703] +05/27 07:43:30 INFO: [Worker 0] Successfully saved trajectory data for house_4610 in 2.43s (batch: 2.35s, save: 0.09s) [pipeline.py: 280] +05/27 07:43:31 WARNING: [Worker 0] No trajectory data to save for house_4610 [pipeline.py: 229] +05/27 07:43:31 INFO: [Worker 0] Worker 0 completed house 4610: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:43:31 INFO: [Worker 0] Worker 0 starting house 4677 (index 49/115) [pipeline.py: 473] +05/27 07:43:31 INFO: [Worker 0] Loaded 1 episodes for house 4677 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 07:43:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:43:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4677_ceiling.xml [task_sampler.py: 797] +05/27 07:43:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4677, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:43:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:43:36 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/27 07:43:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:43:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:43:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:43:37 INFO: [Worker 0] Sampled task 'Pick up the card with green flowers and place it next to the colorful cube with designs' [task_sampler.py: 1136] +05/27 07:43:37 INFO: [Worker 0] Worker 0 house 4677 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:43:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:45:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:51:08 INFO: [Worker 0] Worker 0 house 4677 episode 0 object objadecorativecard_8e87806126c448aab98c71055a501921_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:51:11 INFO: [Worker 0] Batching and saving trajectory data for house_4677: 1 episodes [pipeline.py: 233] +05/27 07:51:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:51:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:51:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4677 [save_utils.py: 703] +05/27 07:51:14 INFO: [Worker 0] Successfully saved trajectory data for house_4677 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 07:51:14 WARNING: [Worker 0] No trajectory data to save for house_4677 [pipeline.py: 229] +05/27 07:51:14 INFO: [Worker 0] Worker 0 completed house 4677: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:51:14 INFO: [Worker 0] Worker 0 starting house 4712 (index 50/115) [pipeline.py: 473] +05/27 07:51:14 INFO: [Worker 0] Loaded 1 episodes for house 4712 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 07:51:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:51:25 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 07:51:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4712_ceiling.xml [task_sampler.py: 797] +05/27 07:51:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4712, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:51:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:51:28 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/27 07:51:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:51:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:51:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:51:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:51:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:51:28 INFO: [Worker 0] Sampled task 'Pick up the black cylindrical scope with lens and place it next to the small green tractor' [task_sampler.py: 1136] +05/27 07:51:28 INFO: [Worker 0] Worker 0 house 4712 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:51:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:51:28 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene [object_manager.py: 1238] +05/27 07:53:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:04:50 INFO: [Worker 0] Worker 0 house 4712 episode 0 object objascope_74a317bd8f2c458a9ab89c9a188900e4_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 08:04:54 INFO: [Worker 0] Batching and saving trajectory data for house_4712: 1 episodes [pipeline.py: 233] +05/27 08:04:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:04:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:04:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4712 [save_utils.py: 703] +05/27 08:04:57 INFO: [Worker 0] Successfully saved trajectory data for house_4712 in 2.87s (batch: 2.78s, save: 0.10s) [pipeline.py: 280] +05/27 08:04:58 WARNING: [Worker 0] No trajectory data to save for house_4712 [pipeline.py: 229] +05/27 08:04:58 INFO: [Worker 0] Worker 0 completed house 4712: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:04:58 INFO: [Worker 0] Worker 0 starting house 4793 (index 51/115) [pipeline.py: 473] +05/27 08:04:58 INFO: [Worker 0] Loaded 1 episodes for house 4793 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 08:04:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:05:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4793_ceiling.xml [task_sampler.py: 797] +05/27 08:05:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4793, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:05:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:05:04 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 08:05:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:05:04 INFO: [Worker 0] Sampled task 'Pick up the yellow handheld gps with blue screen and place it next to the shallow white square ceramic bowl' [task_sampler.py: 1136] +05/27 08:05:04 INFO: [Worker 0] Worker 0 house 4793 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:05:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:05:04 WARNING: [Worker 0] Could not find object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_6 in scene [object_manager.py: 1238] +05/27 08:05:04 WARNING: [Worker 0] Could not find object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_6 in scene [object_manager.py: 1238] +05/27 08:06:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:20:15 INFO: [Worker 0] Worker 0 house 4793 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 08:20:19 INFO: [Worker 0] Batching and saving trajectory data for house_4793: 1 episodes [pipeline.py: 233] +05/27 08:20:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:20:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:20:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4793 [save_utils.py: 703] +05/27 08:20:21 INFO: [Worker 0] Successfully saved trajectory data for house_4793 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 08:20:22 WARNING: [Worker 0] No trajectory data to save for house_4793 [pipeline.py: 229] +05/27 08:20:22 INFO: [Worker 0] Worker 0 completed house 4793: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:20:22 INFO: [Worker 0] Worker 0 starting house 4870 (index 52/115) [pipeline.py: 473] +05/27 08:20:22 INFO: [Worker 0] Loaded 1 episodes for house 4870 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 08:20:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:20:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4870_ceiling.xml [task_sampler.py: 797] +05/27 08:20:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4870, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:20:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:20:26 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/27 08:20:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:20:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:20:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:20:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:20:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:20:26 INFO: [Worker 0] Sampled task 'Pick up the orange futuristic spacecraft with wings and place it next to the shallow wide gray ceramic bowl' [task_sampler.py: 1136] +05/27 08:20:26 INFO: [Worker 0] Worker 0 house 4870 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:20:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:22:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:33:51 INFO: [Worker 0] Worker 0 house 4870 episode 0 object objatoyspacecraft_5397fb2487734503a9819b448abf14c9_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 08:33:55 INFO: [Worker 0] Batching and saving trajectory data for house_4870: 1 episodes [pipeline.py: 233] +05/27 08:33:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:33:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:33:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4870 [save_utils.py: 703] +05/27 08:33:58 INFO: [Worker 0] Successfully saved trajectory data for house_4870 in 2.89s (batch: 2.79s, save: 0.09s) [pipeline.py: 280] +05/27 08:33:58 WARNING: [Worker 0] No trajectory data to save for house_4870 [pipeline.py: 229] +05/27 08:33:58 INFO: [Worker 0] Worker 0 completed house 4870: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:33:58 INFO: [Worker 0] Worker 0 starting house 4957 (index 53/115) [pipeline.py: 473] +05/27 08:33:58 INFO: [Worker 0] Loaded 1 episodes for house 4957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 08:33:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:34:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4957_ceiling.xml [task_sampler.py: 797] +05/27 08:34:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4957, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:34:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:34:09 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/27 08:34:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:34:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:34:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:34:09 INFO: [Worker 0] Sampled task 'Pick up the textured black yellow screwdriver and place it next to the green spherical lettuce' [task_sampler.py: 1136] +05/27 08:34:09 INFO: [Worker 0] Worker 0 house 4957 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:34:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:34:09 WARNING: [Worker 0] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_3 in scene [object_manager.py: 1238] +05/27 08:34:09 WARNING: [Worker 0] Could not find object vase_61e70bb516f7e79bff61fcd075396cae_1_0_3 in scene [object_manager.py: 1238] +05/27 08:35:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:52:34 INFO: [Worker 0] Worker 0 house 4957 episode 0 object objascrewdriver_215ef6cbb3de40e2ab420f4332534bd9_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:52:37 INFO: [Worker 0] Batching and saving trajectory data for house_4957: 1 episodes [pipeline.py: 233] +05/27 08:52:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:52:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:52:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4957 [save_utils.py: 703] +05/27 08:52:40 INFO: [Worker 0] Successfully saved trajectory data for house_4957 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 08:52:40 WARNING: [Worker 0] No trajectory data to save for house_4957 [pipeline.py: 229] +05/27 08:52:40 INFO: [Worker 0] Worker 0 completed house 4957: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:52:40 INFO: [Worker 0] Worker 0 starting house 5050 (index 54/115) [pipeline.py: 473] +05/27 08:52:40 INFO: [Worker 0] Loaded 1 episodes for house 5050 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 08:52:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:53:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5050_ceiling.xml [task_sampler.py: 797] +05/27 08:53:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5050, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:53:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:53:02 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/27 08:53:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:53:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:53:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:53:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:53:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:53:02 INFO: [Worker 0] Sampled task 'Pick up the black lightning trophy with base and place it next to the potato' [task_sampler.py: 1136] +05/27 08:53:02 INFO: [Worker 0] Worker 0 house 5050 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:53:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:09:50 INFO: [Worker 0] Worker 0 house 5050 episode 0 object objaaward_767baba2ef7145d188ab5437730b76ff_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 09:09:53 INFO: [Worker 0] Batching and saving trajectory data for house_5050: 1 episodes [pipeline.py: 233] +05/27 09:09:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:09:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:09:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5050 [save_utils.py: 703] +05/27 09:09:56 INFO: [Worker 0] Successfully saved trajectory data for house_5050 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 09:09:56 WARNING: [Worker 0] No trajectory data to save for house_5050 [pipeline.py: 229] +05/27 09:09:56 INFO: [Worker 0] Worker 0 completed house 5050: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:09:56 INFO: [Worker 0] Worker 0 starting house 5145 (index 55/115) [pipeline.py: 473] +05/27 09:09:56 INFO: [Worker 0] Loaded 1 episodes for house 5145 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 09:09:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:10:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5145_ceiling.xml [task_sampler.py: 797] +05/27 09:10:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5145, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:10:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:10:00 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 09:10:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:10:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:10:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:10:00 INFO: [Worker 0] Sampled task 'Pick up the brown wooden handle screwdriver and place it next to the sleek dark rectangular phone' [task_sampler.py: 1136] +05/27 09:10:00 INFO: [Worker 0] Worker 0 house 5145 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:10:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:10:01 WARNING: [Worker 0] Could not find object objatoy_3ca98f6caabd4c99960dc076fd759ab1_1_0_6 in scene [object_manager.py: 1238] +05/27 09:10:01 WARNING: [Worker 0] Could not find object Irishpotato_6c30212de15b89322c74efcd143a7fbb_1_0_6 in scene [object_manager.py: 1238] +05/27 09:11:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:22:21 INFO: [Worker 0] Worker 0 house 5145 episode 0 object objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 09:22:25 INFO: [Worker 0] Batching and saving trajectory data for house_5145: 1 episodes [pipeline.py: 233] +05/27 09:22:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:22:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:22:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5145 [save_utils.py: 703] +05/27 09:22:27 INFO: [Worker 0] Successfully saved trajectory data for house_5145 in 2.34s (batch: 2.25s, save: 0.09s) [pipeline.py: 280] +05/27 09:22:27 WARNING: [Worker 0] No trajectory data to save for house_5145 [pipeline.py: 229] +05/27 09:22:27 INFO: [Worker 0] Worker 0 completed house 5145: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:22:27 INFO: [Worker 0] Worker 0 starting house 5200 (index 56/115) [pipeline.py: 473] +05/27 09:22:27 INFO: [Worker 0] Loaded 1 episodes for house 5200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 09:22:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:23:11 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 09:23:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5200_ceiling.xml [task_sampler.py: 797] +05/27 09:23:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5200, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:23:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:23:13 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 09:23:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:23:13 INFO: [Worker 0] Sampled task 'Pick up the blue star mold and place it next to the large red tomato' [task_sampler.py: 1136] +05/27 09:23:13 INFO: [Worker 0] Worker 0 house 5200 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:23:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:23:13 WARNING: [Worker 0] Could not find object objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5 in scene [object_manager.py: 1238] +05/27 09:23:13 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 09:24:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:35:52 INFO: [Worker 0] Worker 0 house 5200 episode 0 object objamold_225720a070c046dba53c77e9a0a7716f_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 09:35:55 INFO: [Worker 0] Batching and saving trajectory data for house_5200: 1 episodes [pipeline.py: 233] +05/27 09:35:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:35:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:35:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5200 [save_utils.py: 703] +05/27 09:35:58 INFO: [Worker 0] Successfully saved trajectory data for house_5200 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/27 09:35:58 WARNING: [Worker 0] No trajectory data to save for house_5200 [pipeline.py: 229] +05/27 09:35:58 INFO: [Worker 0] Worker 0 completed house 5200: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:35:58 INFO: [Worker 0] Worker 0 starting house 5342 (index 57/115) [pipeline.py: 473] +05/27 09:35:58 INFO: [Worker 0] Loaded 1 episodes for house 5342 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 09:35:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:37:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5342_ceiling.xml [task_sampler.py: 797] +05/27 09:37:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5342, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:37:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:37:53 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 09:37:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:37:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:37:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:37:53 INFO: [Worker 0] Sampled task 'Pick up the red pagoda pop-up card and place it next to the vintage film projector with leather' [task_sampler.py: 1136] +05/27 09:37:53 INFO: [Worker 0] Worker 0 house 5342 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:37:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:39:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:48:39 INFO: [Worker 0] Worker 0 house 5342 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 09:48:43 INFO: [Worker 0] Batching and saving trajectory data for house_5342: 1 episodes [pipeline.py: 233] +05/27 09:48:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:48:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:48:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5342 [save_utils.py: 703] +05/27 09:48:45 INFO: [Worker 0] Successfully saved trajectory data for house_5342 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 09:48:46 WARNING: [Worker 0] No trajectory data to save for house_5342 [pipeline.py: 229] +05/27 09:48:46 INFO: [Worker 0] Worker 0 completed house 5342: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:48:46 INFO: [Worker 0] Worker 0 starting house 5453 (index 58/115) [pipeline.py: 473] +05/27 09:48:46 INFO: [Worker 0] Loaded 1 episodes for house 5453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 09:48:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:48:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5453_ceiling.xml [task_sampler.py: 797] +05/27 09:48:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5453, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:48:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:48:51 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/27 09:48:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:48:51 INFO: [Worker 0] Sampled task 'Pick up the green cucumber and place it next to the blue patterned bowl' [task_sampler.py: 1136] +05/27 09:48:51 INFO: [Worker 0] Worker 0 house 5453 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:48:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:48:51 WARNING: [Worker 0] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene [object_manager.py: 1238] +05/27 09:48:51 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene [object_manager.py: 1238] +05/27 09:50:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:05:10 INFO: [Worker 0] Worker 0 house 5453 episode 0 object objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 10:05:14 INFO: [Worker 0] Batching and saving trajectory data for house_5453: 1 episodes [pipeline.py: 233] +05/27 10:05:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:05:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:05:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5453 [save_utils.py: 703] +05/27 10:05:17 INFO: [Worker 0] Successfully saved trajectory data for house_5453 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 10:05:17 WARNING: [Worker 0] No trajectory data to save for house_5453 [pipeline.py: 229] +05/27 10:05:17 INFO: [Worker 0] Worker 0 completed house 5453: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:05:17 INFO: [Worker 0] Worker 0 starting house 5543 (index 59/115) [pipeline.py: 473] +05/27 10:05:17 INFO: [Worker 0] Loaded 1 episodes for house 5543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 10:05:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:05:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5543_ceiling.xml [task_sampler.py: 797] +05/27 10:05:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5543, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:05:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:05:20 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/27 10:05:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:05:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:05:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:05:20 INFO: [Worker 0] Sampled task 'Pick up the decorative wooden hatchet and place it next to the moka pot' [task_sampler.py: 1136] +05/27 10:05:20 INFO: [Worker 0] Worker 0 house 5543 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:05:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:07:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:15:34 INFO: [Worker 0] Worker 0 house 5543 episode 0 object objahatchet_0dfc7c5654e945daac9bd0ab195b24ee_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 10:15:37 INFO: [Worker 0] Batching and saving trajectory data for house_5543: 1 episodes [pipeline.py: 233] +05/27 10:15:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:15:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:15:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5543 [save_utils.py: 703] +05/27 10:15:40 INFO: [Worker 0] Successfully saved trajectory data for house_5543 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/27 10:15:40 WARNING: [Worker 0] No trajectory data to save for house_5543 [pipeline.py: 229] +05/27 10:15:40 INFO: [Worker 0] Worker 0 completed house 5543: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:15:40 INFO: [Worker 0] Worker 0 starting house 5606 (index 60/115) [pipeline.py: 473] +05/27 10:15:40 INFO: [Worker 0] Loaded 1 episodes for house 5606 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 10:15:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:16:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5606_ceiling.xml [task_sampler.py: 797] +05/27 10:16:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5606, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:16:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:16:19 INFO: [Worker 0] randomize_scene: Setting poses for 107 objects [json_eval_task_sampler.py: 686] +05/27 10:16:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:16:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:16:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:16:20 INFO: [Worker 0] Sampled task 'Pick up the mechanical device and place it next to the rectangular dark gray tufted pillow' [task_sampler.py: 1136] +05/27 10:16:20 INFO: [Worker 0] Worker 0 house 5606 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:16:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:16:20 WARNING: [Worker 0] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_9 in scene [object_manager.py: 1238] +05/27 10:19:38 INFO: [Worker 0] Worker 0 house 5606 episode 0 object objabicyclepump_283379c9c7c9422c8a0c5213c827723f_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 10:19:42 INFO: [Worker 0] Batching and saving trajectory data for house_5606: 1 episodes [pipeline.py: 233] +05/27 10:19:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:19:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:19:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5606 [save_utils.py: 703] +05/27 10:19:45 INFO: [Worker 0] Successfully saved trajectory data for house_5606 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 10:19:46 WARNING: [Worker 0] No trajectory data to save for house_5606 [pipeline.py: 229] +05/27 10:19:46 INFO: [Worker 0] Worker 0 completed house 5606: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:19:46 INFO: [Worker 0] Worker 0 starting house 5666 (index 61/115) [pipeline.py: 473] +05/27 10:19:46 INFO: [Worker 0] Loaded 1 episodes for house 5666 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 10:19:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:20:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5666_ceiling.xml [task_sampler.py: 797] +05/27 10:20:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5666, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:20:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:20:39 INFO: [Worker 0] randomize_scene: Setting poses for 109 objects [json_eval_task_sampler.py: 686] +05/27 10:20:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:20:39 INFO: [Worker 0] Sampled task 'Pick up the orange circular emblem with blue and place it next to the stopwatch' [task_sampler.py: 1136] +05/27 10:20:39 INFO: [Worker 0] Worker 0 house 5666 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:20:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:20:39 WARNING: [Worker 0] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_8 in scene [object_manager.py: 1238] +05/27 10:42:15 INFO: [Worker 0] Worker 0 house 5666 episode 0 object objadecorativeemblem_72eedb60542841c0a11d429d19854814_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 10:42:18 INFO: [Worker 0] Batching and saving trajectory data for house_5666: 1 episodes [pipeline.py: 233] +05/27 10:42:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:42:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:42:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5666 [save_utils.py: 703] +05/27 10:42:21 INFO: [Worker 0] Successfully saved trajectory data for house_5666 in 2.77s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 10:42:22 WARNING: [Worker 0] No trajectory data to save for house_5666 [pipeline.py: 229] +05/27 10:42:22 INFO: [Worker 0] Worker 0 completed house 5666: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:42:22 INFO: [Worker 0] Worker 0 starting house 5770 (index 62/115) [pipeline.py: 473] +05/27 10:42:22 INFO: [Worker 0] Loaded 1 episodes for house 5770 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 10:42:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:42:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5770_ceiling.xml [task_sampler.py: 797] +05/27 10:42:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5770, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:42:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:42:23 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects [json_eval_task_sampler.py: 686] +05/27 10:42:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:42:23 INFO: [Worker 0] Sampled task 'Pick up the large gray cylindrical metal bolt and place it next to the rectangular color calibration chart with colors' [task_sampler.py: 1136] +05/27 10:42:23 INFO: [Worker 0] Worker 0 house 5770 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:42:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:43:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:51:07 INFO: [Worker 0] Worker 0 house 5770 episode 0 object objabolt_2ccd6566b5714c5da3b61d3682ec64ac_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 10:51:10 INFO: [Worker 0] Batching and saving trajectory data for house_5770: 1 episodes [pipeline.py: 233] +05/27 10:51:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:51:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:51:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5770 [save_utils.py: 703] +05/27 10:51:13 INFO: [Worker 0] Successfully saved trajectory data for house_5770 in 2.75s (batch: 2.66s, save: 0.09s) [pipeline.py: 280] +05/27 10:51:14 WARNING: [Worker 0] No trajectory data to save for house_5770 [pipeline.py: 229] +05/27 10:51:14 INFO: [Worker 0] Worker 0 completed house 5770: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:51:14 INFO: [Worker 0] Worker 0 starting house 5896 (index 63/115) [pipeline.py: 473] +05/27 10:51:14 INFO: [Worker 0] Loaded 1 episodes for house 5896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 10:51:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:51:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5896_ceiling.xml [task_sampler.py: 797] +05/27 10:51:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5896, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:51:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:51:16 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 10:51:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:51:16 INFO: [Worker 0] Sampled task 'Pick up the sleek dark rectangular phone and place it next to the vintage black ricoh kr-5 camera' [task_sampler.py: 1136] +05/27 10:51:16 INFO: [Worker 0] Worker 0 house 5896 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:51:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:51:16 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_3 in scene [object_manager.py: 1238] +05/27 10:51:16 WARNING: [Worker 0] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_3 in scene [object_manager.py: 1238] +05/27 10:52:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:00:29 INFO: [Worker 0] Worker 0 house 5896 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:00:33 INFO: [Worker 0] Batching and saving trajectory data for house_5896: 1 episodes [pipeline.py: 233] +05/27 11:00:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:00:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:00:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5896 [save_utils.py: 703] +05/27 11:00:36 INFO: [Worker 0] Successfully saved trajectory data for house_5896 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 11:00:36 WARNING: [Worker 0] No trajectory data to save for house_5896 [pipeline.py: 229] +05/27 11:00:36 INFO: [Worker 0] Worker 0 completed house 5896: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:00:36 INFO: [Worker 0] Worker 0 starting house 5923 (index 64/115) [pipeline.py: 473] +05/27 11:00:36 INFO: [Worker 0] Loaded 1 episodes for house 5923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 11:00:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:00:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5923_ceiling.xml [task_sampler.py: 797] +05/27 11:00:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5923, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:00:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:00:41 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 11:00:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:00:41 INFO: [Worker 0] Sampled task 'Pick up the shiny gold brown fish sculpture and place it next to the pizza slice with crust' [task_sampler.py: 1136] +05/27 11:00:41 INFO: [Worker 0] Worker 0 house 5923 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:00:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:12:26 INFO: [Worker 0] Worker 0 house 5923 episode 0 object objadecorativefishsculpture_cc5426d3090c4047a1e4d5aa38c95d7a_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:12:30 INFO: [Worker 0] Batching and saving trajectory data for house_5923: 1 episodes [pipeline.py: 233] +05/27 11:12:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:12:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:12:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5923 [save_utils.py: 703] +05/27 11:12:33 INFO: [Worker 0] Successfully saved trajectory data for house_5923 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 11:12:34 WARNING: [Worker 0] No trajectory data to save for house_5923 [pipeline.py: 229] +05/27 11:12:34 INFO: [Worker 0] Worker 0 completed house 5923: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:12:34 INFO: [Worker 0] Worker 0 starting house 6057 (index 65/115) [pipeline.py: 473] +05/27 11:12:34 INFO: [Worker 0] Loaded 1 episodes for house 6057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 11:12:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:12:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6057_ceiling.xml [task_sampler.py: 797] +05/27 11:12:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6057, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:12:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:12:43 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 11:12:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:12:43 INFO: [Worker 0] Sampled task 'Pick up the light brown cylindrical fabric spool and place it next to the metal bolt' [task_sampler.py: 1136] +05/27 11:12:43 INFO: [Worker 0] Worker 0 house 6057 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:12:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:14:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:25:38 INFO: [Worker 0] Worker 0 house 6057 episode 0 object objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 11:25:41 INFO: [Worker 0] Batching and saving trajectory data for house_6057: 1 episodes [pipeline.py: 233] +05/27 11:25:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:25:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:25:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6057 [save_utils.py: 703] +05/27 11:25:44 INFO: [Worker 0] Successfully saved trajectory data for house_6057 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 11:25:44 WARNING: [Worker 0] No trajectory data to save for house_6057 [pipeline.py: 229] +05/27 11:25:44 INFO: [Worker 0] Worker 0 completed house 6057: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:25:44 INFO: [Worker 0] Worker 0 starting house 6120 (index 66/115) [pipeline.py: 473] +05/27 11:25:44 INFO: [Worker 0] Loaded 1 episodes for house 6120 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 11:25:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:25:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6120_ceiling.xml [task_sampler.py: 797] +05/27 11:25:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6120, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:25:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:25:59 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 11:25:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:25:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:25:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:25:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:25:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:25:59 INFO: [Worker 0] Sampled task 'Pick up the sharpening steel and place it next to the brown tortoise model with shell' [task_sampler.py: 1136] +05/27 11:25:59 INFO: [Worker 0] Worker 0 house 6120 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:25:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:27:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:39:03 INFO: [Worker 0] Worker 0 house 6120 episode 0 object objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 11:39:07 INFO: [Worker 0] Batching and saving trajectory data for house_6120: 1 episodes [pipeline.py: 233] +05/27 11:39:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:39:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:39:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6120 [save_utils.py: 703] +05/27 11:39:10 INFO: [Worker 0] Successfully saved trajectory data for house_6120 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 11:39:11 WARNING: [Worker 0] No trajectory data to save for house_6120 [pipeline.py: 229] +05/27 11:39:11 INFO: [Worker 0] Worker 0 completed house 6120: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:39:11 INFO: [Worker 0] Worker 0 starting house 6204 (index 67/115) [pipeline.py: 473] +05/27 11:39:11 INFO: [Worker 0] Loaded 1 episodes for house 6204 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 11:39:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:39:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6204_ceiling.xml [task_sampler.py: 797] +05/27 11:39:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6204, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:39:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:39:37 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects [json_eval_task_sampler.py: 686] +05/27 11:39:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:39:37 INFO: [Worker 0] Sampled task 'Pick up the rustic brown dish and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 11:39:37 INFO: [Worker 0] Worker 0 house 6204 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:39:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:02:13 INFO: [Worker 0] Worker 0 house 6204 episode 0 object objadish_59f077a37f3e4a369b488209046e5aeb_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 12:02:17 INFO: [Worker 0] Batching and saving trajectory data for house_6204: 1 episodes [pipeline.py: 233] +05/27 12:02:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:02:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:02:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6204 [save_utils.py: 703] +05/27 12:02:19 INFO: [Worker 0] Successfully saved trajectory data for house_6204 in 2.49s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/27 12:02:20 WARNING: [Worker 0] No trajectory data to save for house_6204 [pipeline.py: 229] +05/27 12:02:20 INFO: [Worker 0] Worker 0 completed house 6204: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:02:20 INFO: [Worker 0] Worker 0 starting house 6213 (index 68/115) [pipeline.py: 473] +05/27 12:02:20 INFO: [Worker 0] Loaded 2 episodes for house 6213 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 12:02:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:02:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6213_ceiling.xml [task_sampler.py: 797] +05/27 12:02:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6213, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:02:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:02:36 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/27 12:02:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:02:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:02:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:02:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:02:36 INFO: [Worker 0] Sampled task 'Pick up the insect and place it next to the insect' [task_sampler.py: 1136] +05/27 12:02:36 INFO: [Worker 0] Worker 0 house 6213 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 12:02:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:02:37 WARNING: [Worker 0] Could not find object objaexternalharddrive_e8bfe8a8bc294c9e9b03b03f1e40ee43_1_0_9 in scene [object_manager.py: 1238] +05/27 12:02:37 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene [object_manager.py: 1238] +05/27 12:21:08 INFO: [Worker 0] Worker 0 house 6213 episode 0 object objainsectsculpture_dd195f6a3aed4a5da766b29e3ad14a2d_2_0_2 completed with success=False [pipeline.py: 1114] +05/27 12:21:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:21:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6213_ceiling.xml [task_sampler.py: 797] +05/27 12:21:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6213, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:21:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:21:17 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/27 12:21:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:21:17 INFO: [Worker 0] Sampled task 'Pick up the blue milk carton with red logo and place it next to the model starship' [task_sampler.py: 1136] +05/27 12:21:17 INFO: [Worker 0] Worker 0 house 6213 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 12:21:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:21:17 WARNING: [Worker 0] Could not find object objaexternalharddrive_e8bfe8a8bc294c9e9b03b03f1e40ee43_1_0_9 in scene [object_manager.py: 1238] +05/27 12:21:17 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene [object_manager.py: 1238] +05/27 12:22:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:39:55 INFO: [Worker 0] Worker 0 house 6213 episode 1 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 12:39:59 INFO: [Worker 0] Batching and saving trajectory data for house_6213: 2 episodes [pipeline.py: 233] +05/27 12:39:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:40:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:40:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:40:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:40:05 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6213 [save_utils.py: 703] +05/27 12:40:05 INFO: [Worker 0] Successfully saved trajectory data for house_6213 in 5.52s (batch: 5.35s, save: 0.17s) [pipeline.py: 280] +05/27 12:40:05 WARNING: [Worker 0] No trajectory data to save for house_6213 [pipeline.py: 229] +05/27 12:40:05 INFO: [Worker 0] Worker 0 completed house 6213: 0/2 successful episodes [pipeline.py: 1243] +05/27 12:40:05 INFO: [Worker 0] Worker 0 starting house 6257 (index 69/115) [pipeline.py: 473] +05/27 12:40:05 INFO: [Worker 0] Loaded 1 episodes for house 6257 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 12:40:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:40:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6257_ceiling.xml [task_sampler.py: 797] +05/27 12:40:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6257, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:40:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:40:38 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 12:40:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:40:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:40:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:40:38 INFO: [Worker 0] Sampled task 'Pick up the wrench and place it next to the stylized yellow vintage cartoon van' [task_sampler.py: 1136] +05/27 12:40:38 INFO: [Worker 0] Worker 0 house 6257 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:40:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:42:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:52:10 INFO: [Worker 0] Worker 0 house 6257 episode 0 object objaadjustablewrench_5bbc755b07924fcba6ccd702191f90df_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 12:52:13 INFO: [Worker 0] Batching and saving trajectory data for house_6257: 1 episodes [pipeline.py: 233] +05/27 12:52:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:52:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:52:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6257 [save_utils.py: 703] +05/27 12:52:16 INFO: [Worker 0] Successfully saved trajectory data for house_6257 in 2.57s (batch: 2.47s, save: 0.09s) [pipeline.py: 280] +05/27 12:52:17 WARNING: [Worker 0] No trajectory data to save for house_6257 [pipeline.py: 229] +05/27 12:52:17 INFO: [Worker 0] Worker 0 completed house 6257: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:52:17 INFO: [Worker 0] Worker 0 starting house 6302 (index 70/115) [pipeline.py: 473] +05/27 12:52:17 INFO: [Worker 0] Loaded 1 episodes for house 6302 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 12:52:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:52:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6302_ceiling.xml [task_sampler.py: 797] +05/27 12:52:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6302, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:52:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:52:29 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 12:52:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:52:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:52:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:52:30 INFO: [Worker 0] Sampled task 'Pick up the primitive tool and place it next to the miniature windmill' [task_sampler.py: 1136] +05/27 12:52:30 INFO: [Worker 0] Worker 0 house 6302 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:52:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:54:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:05:50 INFO: [Worker 0] Worker 0 house 6302 episode 0 object objaprimitivetool_4dfb6ac9b577431783a05825f9ffd8ff_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 13:05:54 INFO: [Worker 0] Batching and saving trajectory data for house_6302: 1 episodes [pipeline.py: 233] +05/27 13:05:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:05:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:05:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6302 [save_utils.py: 703] +05/27 13:05:56 INFO: [Worker 0] Successfully saved trajectory data for house_6302 in 2.46s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/27 13:05:57 WARNING: [Worker 0] No trajectory data to save for house_6302 [pipeline.py: 229] +05/27 13:05:57 INFO: [Worker 0] Worker 0 completed house 6302: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:05:57 INFO: [Worker 0] Worker 0 starting house 6385 (index 71/115) [pipeline.py: 473] +05/27 13:05:57 INFO: [Worker 0] Loaded 1 episodes for house 6385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 13:05:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:06:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6385_ceiling.xml [task_sampler.py: 797] +05/27 13:06:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6385, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:06:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:06:12 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/27 13:06:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:06:12 INFO: [Worker 0] Sampled task 'Pick up the solid blue arrow with white outline and place it next to the geometric blue butterfly' [task_sampler.py: 1136] +05/27 13:06:12 INFO: [Worker 0] Worker 0 house 6385 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:06:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:07:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:09:17 INFO: [Worker 0] Worker 0 house 6385 episode 0 object objadecorativearrow_f38febed165240b9aea5289c215c6b65_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 13:09:21 INFO: [Worker 0] Batching and saving trajectory data for house_6385: 1 episodes [pipeline.py: 233] +05/27 13:09:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:09:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:09:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6385 [save_utils.py: 703] +05/27 13:09:23 INFO: [Worker 0] Successfully saved trajectory data for house_6385 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 13:09:24 WARNING: [Worker 0] No trajectory data to save for house_6385 [pipeline.py: 229] +05/27 13:09:24 INFO: [Worker 0] Worker 0 completed house 6385: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:09:24 INFO: [Worker 0] Worker 0 starting house 6452 (index 72/115) [pipeline.py: 473] +05/27 13:09:24 INFO: [Worker 0] Loaded 1 episodes for house 6452 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 13:09:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:09:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6452_ceiling.xml [task_sampler.py: 797] +05/27 13:09:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6452, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:09:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:09:36 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/27 13:09:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:09:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:09:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:09:36 INFO: [Worker 0] Sampled task 'Pick up the oval avocado with bumpy green skin and place it next to the blue soap bottle with orange pump' [task_sampler.py: 1136] +05/27 13:09:36 INFO: [Worker 0] Worker 0 house 6452 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:09:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:09:36 WARNING: [Worker 0] Could not find object objasymbol_06feafda2e414e45bb709f7be46a1c00_1_0_8 in scene [object_manager.py: 1238] +05/27 13:09:36 WARNING: [Worker 0] Could not find object vase_6036f2984fad087344d3e0313b088eaf_1_0_8 in scene [object_manager.py: 1238] +05/27 13:11:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:12:33 INFO: [Worker 0] Worker 0 house 6452 episode 0 object objaavocado_cb72a029445445e4a9fb6cc76715d11d_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 13:12:37 INFO: [Worker 0] Batching and saving trajectory data for house_6452: 1 episodes [pipeline.py: 233] +05/27 13:12:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:12:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:12:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6452 [save_utils.py: 703] +05/27 13:12:40 INFO: [Worker 0] Successfully saved trajectory data for house_6452 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 13:12:40 WARNING: [Worker 0] No trajectory data to save for house_6452 [pipeline.py: 229] +05/27 13:12:40 INFO: [Worker 0] Worker 0 completed house 6452: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:12:40 INFO: [Worker 0] Worker 0 starting house 6543 (index 73/115) [pipeline.py: 473] +05/27 13:12:40 INFO: [Worker 0] Loaded 1 episodes for house 6543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 13:12:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:12:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6543_ceiling.xml [task_sampler.py: 797] +05/27 13:12:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6543, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:12:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:12:50 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/27 13:12:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:12:50 INFO: [Worker 0] Sampled task 'Pick up the metal chain and place it next to the table lamp' [task_sampler.py: 1136] +05/27 13:12:50 INFO: [Worker 0] Worker 0 house 6543 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:12:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:12:50 WARNING: [Worker 0] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene [object_manager.py: 1238] +05/27 13:12:50 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene [object_manager.py: 1238] +05/27 13:12:50 WARNING: [Worker 0] Could not find object objahinge_1ffa7463a95647c5bc8c07359ff161ae_1_0_8 in scene [object_manager.py: 1238] +05/27 13:12:50 WARNING: [Worker 0] Could not find object objahinge_4587c40e36704e7a96ffebad95028160_2_0_8 in scene [object_manager.py: 1238] +05/27 13:14:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:30:03 INFO: [Worker 0] Worker 0 house 6543 episode 0 object objachain_f3ab69afeb0b49518318a2263f17564e_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 13:30:07 INFO: [Worker 0] Batching and saving trajectory data for house_6543: 1 episodes [pipeline.py: 233] +05/27 13:30:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:30:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:30:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6543 [save_utils.py: 703] +05/27 13:30:10 INFO: [Worker 0] Successfully saved trajectory data for house_6543 in 2.79s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 13:30:11 WARNING: [Worker 0] No trajectory data to save for house_6543 [pipeline.py: 229] +05/27 13:30:11 INFO: [Worker 0] Worker 0 completed house 6543: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:30:11 INFO: [Worker 0] Worker 0 starting house 6698 (index 74/115) [pipeline.py: 473] +05/27 13:30:11 INFO: [Worker 0] Loaded 1 episodes for house 6698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 13:30:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:30:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6698_ceiling.xml [task_sampler.py: 797] +05/27 13:30:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6698, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:30:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:30:20 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/27 13:30:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:30:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:30:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:30:20 INFO: [Worker 0] Sampled task 'Pick up the red locomotive and place it next to the smooth rounded ceramic bowl' [task_sampler.py: 1136] +05/27 13:30:20 INFO: [Worker 0] Worker 0 house 6698 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:30:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:31:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:45:50 INFO: [Worker 0] Worker 0 house 6698 episode 0 object objatrainmodel_3463948e9b03463e8968dbdd11a5d745_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 13:45:54 INFO: [Worker 0] Batching and saving trajectory data for house_6698: 1 episodes [pipeline.py: 233] +05/27 13:45:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:45:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6698 [save_utils.py: 703] +05/27 13:45:57 INFO: [Worker 0] Successfully saved trajectory data for house_6698 in 2.97s (batch: 2.87s, save: 0.10s) [pipeline.py: 280] +05/27 13:45:58 WARNING: [Worker 0] No trajectory data to save for house_6698 [pipeline.py: 229] +05/27 13:45:58 INFO: [Worker 0] Worker 0 completed house 6698: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:45:58 INFO: [Worker 0] Worker 0 starting house 6766 (index 75/115) [pipeline.py: 473] +05/27 13:45:58 INFO: [Worker 0] Loaded 1 episodes for house 6766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 13:45:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:46:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6766_ceiling.xml [task_sampler.py: 797] +05/27 13:46:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6766, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:46:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:46:03 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/27 13:46:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:46:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:46:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:46:03 INFO: [Worker 0] Sampled task 'Pick up the glossy chocolate cake bar wrapper and place it next to the dark matte cup with grooves' [task_sampler.py: 1136] +05/27 13:46:03 INFO: [Worker 0] Worker 0 house 6766 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:46:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:47:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:56:26 INFO: [Worker 0] Worker 0 house 6766 episode 0 object objapackagedfood_5ceecc4773b845a5b9addfa0f324f159_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 13:56:29 INFO: [Worker 0] Batching and saving trajectory data for house_6766: 1 episodes [pipeline.py: 233] +05/27 13:56:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:56:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:56:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6766 [save_utils.py: 703] +05/27 13:56:32 INFO: [Worker 0] Successfully saved trajectory data for house_6766 in 2.49s (batch: 2.40s, save: 0.09s) [pipeline.py: 280] +05/27 13:56:32 WARNING: [Worker 0] No trajectory data to save for house_6766 [pipeline.py: 229] +05/27 13:56:32 INFO: [Worker 0] Worker 0 completed house 6766: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:56:32 INFO: [Worker 0] Worker 0 starting house 6884 (index 76/115) [pipeline.py: 473] +05/27 13:56:32 INFO: [Worker 0] Loaded 1 episodes for house 6884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 13:56:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:56:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6884_ceiling.xml [task_sampler.py: 797] +05/27 13:56:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6884, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:56:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:56:42 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 13:56:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:56:42 INFO: [Worker 0] Sampled task 'Pick up the yellow handheld gps and place it next to the coffee machine' [task_sampler.py: 1136] +05/27 13:56:42 INFO: [Worker 0] Worker 0 house 6884 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:56:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:58:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:07:22 INFO: [Worker 0] Worker 0 house 6884 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_2_0_6 completed with success=False [pipeline.py: 1114] +05/27 14:07:26 INFO: [Worker 0] Batching and saving trajectory data for house_6884: 1 episodes [pipeline.py: 233] +05/27 14:07:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:07:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:07:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6884 [save_utils.py: 703] +05/27 14:07:29 INFO: [Worker 0] Successfully saved trajectory data for house_6884 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 14:07:30 WARNING: [Worker 0] No trajectory data to save for house_6884 [pipeline.py: 229] +05/27 14:07:30 INFO: [Worker 0] Worker 0 completed house 6884: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:07:30 INFO: [Worker 0] Worker 0 starting house 6941 (index 77/115) [pipeline.py: 473] +05/27 14:07:30 INFO: [Worker 0] Loaded 1 episodes for house 6941 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 14:07:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:07:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6941_ceiling.xml [task_sampler.py: 797] +05/27 14:07:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6941, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:07:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:07:44 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 14:07:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:07:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:07:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:07:44 INFO: [Worker 0] Sampled task 'Pick up the dark metal axe and place it next to the smooth light brown egg' [task_sampler.py: 1136] +05/27 14:07:44 INFO: [Worker 0] Worker 0 house 6941 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:07:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:09:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:17:59 INFO: [Worker 0] Worker 0 house 6941 episode 0 object objahandaxe_be5b9e7c2bac495fb4494b89c2e3e915_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 14:18:02 INFO: [Worker 0] Batching and saving trajectory data for house_6941: 1 episodes [pipeline.py: 233] +05/27 14:18:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:18:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:18:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6941 [save_utils.py: 703] +05/27 14:18:04 INFO: [Worker 0] Successfully saved trajectory data for house_6941 in 2.39s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 14:18:05 WARNING: [Worker 0] No trajectory data to save for house_6941 [pipeline.py: 229] +05/27 14:18:05 INFO: [Worker 0] Worker 0 completed house 6941: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:18:05 INFO: [Worker 0] Worker 0 starting house 7013 (index 78/115) [pipeline.py: 473] +05/27 14:18:05 INFO: [Worker 0] Loaded 1 episodes for house 7013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 14:18:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:18:27 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 14:18:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7013_ceiling.xml [task_sampler.py: 797] +05/27 14:18:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7013, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:18:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:18:31 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/27 14:18:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:18:31 INFO: [Worker 0] Sampled task 'Pick up the vintage beige minerva stopwatch with figure and place it next to the light blue labeled cleaning bottle' [task_sampler.py: 1136] +05/27 14:18:31 INFO: [Worker 0] Worker 0 house 7013 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:18:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:18:31 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 14:36:47 INFO: [Worker 0] Worker 0 house 7013 episode 0 object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 14:36:51 INFO: [Worker 0] Batching and saving trajectory data for house_7013: 1 episodes [pipeline.py: 233] +05/27 14:36:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:36:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:36:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7013 [save_utils.py: 703] +05/27 14:36:53 INFO: [Worker 0] Successfully saved trajectory data for house_7013 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 14:36:53 WARNING: [Worker 0] No trajectory data to save for house_7013 [pipeline.py: 229] +05/27 14:36:53 INFO: [Worker 0] Worker 0 completed house 7013: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:36:53 INFO: [Worker 0] Worker 0 starting house 7076 (index 79/115) [pipeline.py: 473] +05/27 14:36:53 INFO: [Worker 0] Loaded 1 episodes for house 7076 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 14:36:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:36:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7076_ceiling.xml [task_sampler.py: 797] +05/27 14:36:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7076, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:36:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:36:57 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/27 14:36:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:36:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:36:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:36:57 INFO: [Worker 0] Sampled task 'Pick up the handheldscanner and place it next to the rusty spray paint can with blue' [task_sampler.py: 1136] +05/27 14:36:57 INFO: [Worker 0] Worker 0 house 7076 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:36:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:49:23 INFO: [Worker 0] Worker 0 house 7076 episode 0 object objahandheldscanner_4768cdc427e249a2aea0124a54608f1f_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 14:49:27 INFO: [Worker 0] Batching and saving trajectory data for house_7076: 1 episodes [pipeline.py: 233] +05/27 14:49:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:49:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:49:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7076 [save_utils.py: 703] +05/27 14:49:30 INFO: [Worker 0] Successfully saved trajectory data for house_7076 in 2.91s (batch: 2.82s, save: 0.09s) [pipeline.py: 280] +05/27 14:49:30 WARNING: [Worker 0] No trajectory data to save for house_7076 [pipeline.py: 229] +05/27 14:49:30 INFO: [Worker 0] Worker 0 completed house 7076: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:49:30 INFO: [Worker 0] Worker 0 starting house 7172 (index 80/115) [pipeline.py: 473] +05/27 14:49:30 INFO: [Worker 0] Loaded 1 episodes for house 7172 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 14:49:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:49:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7172_ceiling.xml [task_sampler.py: 797] +05/27 14:49:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7172, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:49:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:49:39 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 14:49:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:49:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:49:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:49:39 INFO: [Worker 0] Sampled task 'Pick up the beige stone and place it next to the plate' [task_sampler.py: 1136] +05/27 14:49:39 INFO: [Worker 0] Worker 0 house 7172 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:49:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:51:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:01:49 INFO: [Worker 0] Worker 0 house 7172 episode 0 object objastone_913f6a32c94043f9892baabc13025e7a_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 15:01:52 INFO: [Worker 0] Batching and saving trajectory data for house_7172: 1 episodes [pipeline.py: 233] +05/27 15:01:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:01:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:01:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7172 [save_utils.py: 703] +05/27 15:01:55 INFO: [Worker 0] Successfully saved trajectory data for house_7172 in 2.54s (batch: 2.45s, save: 0.09s) [pipeline.py: 280] +05/27 15:01:55 WARNING: [Worker 0] No trajectory data to save for house_7172 [pipeline.py: 229] +05/27 15:01:55 INFO: [Worker 0] Worker 0 completed house 7172: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:01:55 INFO: [Worker 0] Worker 0 starting house 7281 (index 81/115) [pipeline.py: 473] +05/27 15:01:55 INFO: [Worker 0] Loaded 1 episodes for house 7281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 15:01:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:02:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7281_ceiling.xml [task_sampler.py: 797] +05/27 15:02:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7281, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:02:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:02:07 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 15:02:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:02:07 INFO: [Worker 0] Sampled task 'Pick up the green snail with large brown shell and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 15:02:07 INFO: [Worker 0] Worker 0 house 7281 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:02:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:02:07 WARNING: [Worker 0] Could not find object objaemblem_94d0e225581b4db48da241b36d1be05b_1_0_5 in scene [object_manager.py: 1238] +05/27 15:03:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:16:07 INFO: [Worker 0] Worker 0 house 7281 episode 0 object objasnailsculpture_cc5307e5737f4db4ab09caeaeb07a6e7_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 15:16:11 INFO: [Worker 0] Batching and saving trajectory data for house_7281: 1 episodes [pipeline.py: 233] +05/27 15:16:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:16:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:16:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7281 [save_utils.py: 703] +05/27 15:16:14 INFO: [Worker 0] Successfully saved trajectory data for house_7281 in 2.75s (batch: 2.66s, save: 0.09s) [pipeline.py: 280] +05/27 15:16:15 WARNING: [Worker 0] No trajectory data to save for house_7281 [pipeline.py: 229] +05/27 15:16:15 INFO: [Worker 0] Worker 0 completed house 7281: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:16:15 INFO: [Worker 0] Worker 0 starting house 7343 (index 82/115) [pipeline.py: 473] +05/27 15:16:15 INFO: [Worker 0] Loaded 1 episodes for house 7343 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 15:16:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:16:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7343_ceiling.xml [task_sampler.py: 797] +05/27 15:16:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7343, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:16:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:16:21 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/27 15:16:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:16:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:16:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:16:21 INFO: [Worker 0] Sampled task 'Pick up the instrumentation and place it next to the classic blue and white camper van' [task_sampler.py: 1136] +05/27 15:16:21 INFO: [Worker 0] Worker 0 house 7343 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:16:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:18:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:31:49 INFO: [Worker 0] Worker 0 house 7343 episode 0 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 15:31:53 INFO: [Worker 0] Batching and saving trajectory data for house_7343: 1 episodes [pipeline.py: 233] +05/27 15:31:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:31:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:31:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7343 [save_utils.py: 703] +05/27 15:31:55 INFO: [Worker 0] Successfully saved trajectory data for house_7343 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 15:31:56 WARNING: [Worker 0] No trajectory data to save for house_7343 [pipeline.py: 229] +05/27 15:31:56 INFO: [Worker 0] Worker 0 completed house 7343: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:31:56 INFO: [Worker 0] Worker 0 starting house 7377 (index 83/115) [pipeline.py: 473] +05/27 15:31:56 INFO: [Worker 0] Loaded 1 episodes for house 7377 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 15:31:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:31:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7377_ceiling.xml [task_sampler.py: 797] +05/27 15:31:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7377, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:31:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:31:59 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 15:31:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:31:59 INFO: [Worker 0] Sampled task 'Pick up the red bowtie with white polka dots and place it next to the glossy brown goblet cup' [task_sampler.py: 1136] +05/27 15:31:59 INFO: [Worker 0] Worker 0 house 7377 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:31:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:32:00 WARNING: [Worker 0] Could not find object objacrocodileskullreplica_3d87992f50434bfb8d762bd2a3d41994_1_0_2 in scene [object_manager.py: 1238] +05/27 15:32:00 WARNING: [Worker 0] Could not find object objadriftwood_df264661bdfb4e4a914988796df10d2f_1_0_2 in scene [object_manager.py: 1238] +05/27 15:32:00 WARNING: [Worker 0] Could not find object vase_4686c3634f3334d6f28ba73fcd509a72_1_0_2 in scene [object_manager.py: 1238] +05/27 15:33:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:42:26 INFO: [Worker 0] Worker 0 house 7377 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 15:42:30 INFO: [Worker 0] Batching and saving trajectory data for house_7377: 1 episodes [pipeline.py: 233] +05/27 15:42:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:42:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:42:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7377 [save_utils.py: 703] +05/27 15:42:33 INFO: [Worker 0] Successfully saved trajectory data for house_7377 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 15:42:33 WARNING: [Worker 0] No trajectory data to save for house_7377 [pipeline.py: 229] +05/27 15:42:33 INFO: [Worker 0] Worker 0 completed house 7377: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:42:33 INFO: [Worker 0] Worker 0 starting house 7449 (index 84/115) [pipeline.py: 473] +05/27 15:42:33 INFO: [Worker 0] Loaded 1 episodes for house 7449 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 15:42:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:42:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7449_ceiling.xml [task_sampler.py: 797] +05/27 15:42:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7449, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:42:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:42:49 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/27 15:42:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:42:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:42:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:42:49 INFO: [Worker 0] Sampled task 'Pick up the medium brown rough potato with imperfections and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 15:42:49 INFO: [Worker 0] Worker 0 house 7449 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:42:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:44:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:51:03 INFO: [Worker 0] Worker 0 house 7449 episode 0 object Irishpotato_97ed5203740bb4947ae92dcbf36ae46c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:51:07 INFO: [Worker 0] Batching and saving trajectory data for house_7449: 1 episodes [pipeline.py: 233] +05/27 15:51:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:51:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:51:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7449 [save_utils.py: 703] +05/27 15:51:10 INFO: [Worker 0] Successfully saved trajectory data for house_7449 in 2.91s (batch: 2.81s, save: 0.10s) [pipeline.py: 280] +05/27 15:51:10 WARNING: [Worker 0] No trajectory data to save for house_7449 [pipeline.py: 229] +05/27 15:51:10 INFO: [Worker 0] Worker 0 completed house 7449: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:51:10 INFO: [Worker 0] Worker 0 starting house 7506 (index 85/115) [pipeline.py: 473] +05/27 15:51:10 INFO: [Worker 0] Loaded 1 episodes for house 7506 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 15:51:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:51:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7506_ceiling.xml [task_sampler.py: 797] +05/27 15:51:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7506, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:51:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:51:13 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/27 15:51:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:51:13 INFO: [Worker 0] Sampled task 'Pick up the red ninja patch and place it next to the black mask' [task_sampler.py: 1136] +05/27 15:51:13 INFO: [Worker 0] Worker 0 house 7506 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:51:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:52:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:02:43 INFO: [Worker 0] Worker 0 house 7506 episode 0 object objapatch_0d3e057f882d4d2093e7dbed9fd26a31_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 16:02:46 INFO: [Worker 0] Batching and saving trajectory data for house_7506: 1 episodes [pipeline.py: 233] +05/27 16:02:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:02:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:02:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7506 [save_utils.py: 703] +05/27 16:02:49 INFO: [Worker 0] Successfully saved trajectory data for house_7506 in 2.38s (batch: 2.29s, save: 0.09s) [pipeline.py: 280] +05/27 16:02:49 WARNING: [Worker 0] No trajectory data to save for house_7506 [pipeline.py: 229] +05/27 16:02:49 INFO: [Worker 0] Worker 0 completed house 7506: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:02:49 INFO: [Worker 0] Worker 0 starting house 7641 (index 86/115) [pipeline.py: 473] +05/27 16:02:49 INFO: [Worker 0] Loaded 1 episodes for house 7641 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 16:02:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:03:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7641_ceiling.xml [task_sampler.py: 797] +05/27 16:03:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7641, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:03:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:03:15 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects [json_eval_task_sampler.py: 686] +05/27 16:03:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:03:15 INFO: [Worker 0] Sampled task 'Pick up the cornermolding and place it next to the miniature tree with lush green leaves' [task_sampler.py: 1136] +05/27 16:03:15 INFO: [Worker 0] Worker 0 house 7641 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:03:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:03:16 WARNING: [Worker 0] Could not find object tomato_394b22755d3368fb51669bf48bdfea21_1_0_2 in scene [object_manager.py: 1238] +05/27 16:03:16 WARNING: [Worker 0] Could not find object objametalartifact_c98d18777e2640379f8f697975068cdf_1_0_5 in scene [object_manager.py: 1238] +05/27 16:03:16 WARNING: [Worker 0] Could not find object objaexternalharddrive_f4035bcaf9094e34afb664c872233c1c_1_0_5 in scene [object_manager.py: 1238] +05/27 16:24:36 INFO: [Worker 0] Worker 0 house 7641 episode 0 object objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 16:24:39 INFO: [Worker 0] Batching and saving trajectory data for house_7641: 1 episodes [pipeline.py: 233] +05/27 16:24:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:24:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:24:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7641 [save_utils.py: 703] +05/27 16:24:42 INFO: [Worker 0] Successfully saved trajectory data for house_7641 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 16:24:42 WARNING: [Worker 0] No trajectory data to save for house_7641 [pipeline.py: 229] +05/27 16:24:42 INFO: [Worker 0] Worker 0 completed house 7641: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:24:42 INFO: [Worker 0] Worker 0 starting house 7755 (index 87/115) [pipeline.py: 473] +05/27 16:24:42 INFO: [Worker 0] Loaded 1 episodes for house 7755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 16:24:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:24:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7755_ceiling.xml [task_sampler.py: 797] +05/27 16:24:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7755, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:24:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:24:48 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 16:24:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:24:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:24:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:24:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:24:48 INFO: [Worker 0] Sampled task 'Pick up the hexagonal metallic light projector and place it next to the black hardcover book with orange text' [task_sampler.py: 1136] +05/27 16:24:48 INFO: [Worker 0] Worker 0 house 7755 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:24:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:26:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:32:34 INFO: [Worker 0] Worker 0 house 7755 episode 0 object objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 16:32:37 INFO: [Worker 0] Batching and saving trajectory data for house_7755: 1 episodes [pipeline.py: 233] +05/27 16:32:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:32:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:32:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7755 [save_utils.py: 703] +05/27 16:32:40 INFO: [Worker 0] Successfully saved trajectory data for house_7755 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 16:32:40 WARNING: [Worker 0] No trajectory data to save for house_7755 [pipeline.py: 229] +05/27 16:32:40 INFO: [Worker 0] Worker 0 completed house 7755: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:32:40 INFO: [Worker 0] Worker 0 starting house 7847 (index 88/115) [pipeline.py: 473] +05/27 16:32:40 INFO: [Worker 0] Loaded 1 episodes for house 7847 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 16:32:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:32:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7847_ceiling.xml [task_sampler.py: 797] +05/27 16:32:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7847, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:32:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:32:47 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 16:32:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:32:47 INFO: [Worker 0] Sampled task 'Pick up the dark metal container with label and place it next to the golden yellow apple with stem' [task_sampler.py: 1136] +05/27 16:32:47 INFO: [Worker 0] Worker 0 house 7847 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:32:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:34:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:47:32 INFO: [Worker 0] Worker 0 house 7847 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_3_0_2 completed with success=False [pipeline.py: 1114] +05/27 16:47:36 INFO: [Worker 0] Batching and saving trajectory data for house_7847: 1 episodes [pipeline.py: 233] +05/27 16:47:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:47:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:47:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7847 [save_utils.py: 703] +05/27 16:47:39 INFO: [Worker 0] Successfully saved trajectory data for house_7847 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 16:47:39 WARNING: [Worker 0] No trajectory data to save for house_7847 [pipeline.py: 229] +05/27 16:47:39 INFO: [Worker 0] Worker 0 completed house 7847: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:47:39 INFO: [Worker 0] Worker 0 starting house 7933 (index 89/115) [pipeline.py: 473] +05/27 16:47:39 INFO: [Worker 0] Loaded 1 episodes for house 7933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 16:47:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:47:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7933_ceiling.xml [task_sampler.py: 797] +05/27 16:47:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7933, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:47:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:47:58 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 16:47:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:47:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:47:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:47:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:47:58 INFO: [Worker 0] Sampled task 'Pick up the instrumentation and place it next to the black rectangular network switch' [task_sampler.py: 1136] +05/27 16:47:58 INFO: [Worker 0] Worker 0 house 7933 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:47:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:49:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:58:35 INFO: [Worker 0] Worker 0 house 7933 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 16:58:38 INFO: [Worker 0] Batching and saving trajectory data for house_7933: 1 episodes [pipeline.py: 233] +05/27 16:58:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:58:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:58:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7933 [save_utils.py: 703] +05/27 16:58:41 INFO: [Worker 0] Successfully saved trajectory data for house_7933 in 2.44s (batch: 2.35s, save: 0.09s) [pipeline.py: 280] +05/27 16:58:41 WARNING: [Worker 0] No trajectory data to save for house_7933 [pipeline.py: 229] +05/27 16:58:41 INFO: [Worker 0] Worker 0 completed house 7933: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:58:41 INFO: [Worker 0] Worker 0 starting house 8019 (index 90/115) [pipeline.py: 473] +05/27 16:58:41 INFO: [Worker 0] Loaded 1 episodes for house 8019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 16:58:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:58:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8019_ceiling.xml [task_sampler.py: 797] +05/27 16:58:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8019, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:58:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:58:58 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/27 16:58:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:58:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:58:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:58:58 INFO: [Worker 0] Sampled task 'Pick up the silencer and place it next to the metal lamp' [task_sampler.py: 1136] +05/27 16:58:58 INFO: [Worker 0] Worker 0 house 8019 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:58:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:00:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:14:29 INFO: [Worker 0] Worker 0 house 8019 episode 0 object objasuppressor_4d9a44997f514c8da02d3a6be9b9648b_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 17:14:33 INFO: [Worker 0] Batching and saving trajectory data for house_8019: 1 episodes [pipeline.py: 233] +05/27 17:14:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:14:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:14:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8019 [save_utils.py: 703] +05/27 17:14:37 INFO: [Worker 0] Successfully saved trajectory data for house_8019 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 17:14:38 WARNING: [Worker 0] No trajectory data to save for house_8019 [pipeline.py: 229] +05/27 17:14:38 INFO: [Worker 0] Worker 0 completed house 8019: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:14:38 INFO: [Worker 0] Worker 0 starting house 8115 (index 91/115) [pipeline.py: 473] +05/27 17:14:38 INFO: [Worker 0] Loaded 1 episodes for house 8115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 17:14:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:14:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8115_ceiling.xml [task_sampler.py: 797] +05/27 17:14:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8115, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:14:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:14:51 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/27 17:14:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:14:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:14:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:14:51 INFO: [Worker 0] Sampled task 'Pick up the blue calendar with mountains and place it next to the metallic burgundy toaster' [task_sampler.py: 1136] +05/27 17:14:51 INFO: [Worker 0] Worker 0 house 8115 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:14:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:31:20 INFO: [Worker 0] Worker 0 house 8115 episode 0 object objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 17:31:24 INFO: [Worker 0] Batching and saving trajectory data for house_8115: 1 episodes [pipeline.py: 233] +05/27 17:31:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:31:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:31:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8115 [save_utils.py: 703] +05/27 17:31:26 INFO: [Worker 0] Successfully saved trajectory data for house_8115 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/27 17:31:27 WARNING: [Worker 0] No trajectory data to save for house_8115 [pipeline.py: 229] +05/27 17:31:27 INFO: [Worker 0] Worker 0 completed house 8115: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:31:27 INFO: [Worker 0] Worker 0 starting house 8221 (index 92/115) [pipeline.py: 473] +05/27 17:31:27 INFO: [Worker 0] Loaded 1 episodes for house 8221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 17:31:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:31:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8221_ceiling.xml [task_sampler.py: 797] +05/27 17:31:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8221, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:31:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:31:43 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/27 17:31:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:31:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:31:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:31:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:31:43 INFO: [Worker 0] Sampled task 'Pick up the primitive stone axe with wooden handle and place it next to the shiny gold vase' [task_sampler.py: 1136] +05/27 17:31:43 INFO: [Worker 0] Worker 0 house 8221 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:31:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:33:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:49:04 INFO: [Worker 0] Worker 0 house 8221 episode 0 object objastoneaxe_c6677888b7944b9295ed73a1061d448f_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 17:49:08 INFO: [Worker 0] Batching and saving trajectory data for house_8221: 1 episodes [pipeline.py: 233] +05/27 17:49:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:49:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:49:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8221 [save_utils.py: 703] +05/27 17:49:10 INFO: [Worker 0] Successfully saved trajectory data for house_8221 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 17:49:11 WARNING: [Worker 0] No trajectory data to save for house_8221 [pipeline.py: 229] +05/27 17:49:11 INFO: [Worker 0] Worker 0 completed house 8221: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:49:11 INFO: [Worker 0] Worker 0 starting house 8264 (index 93/115) [pipeline.py: 473] +05/27 17:49:11 INFO: [Worker 0] Loaded 1 episodes for house 8264 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 17:49:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:49:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8264_ceiling.xml [task_sampler.py: 797] +05/27 17:49:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8264, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:49:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:49:21 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 17:49:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:49:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:49:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:49:21 INFO: [Worker 0] Sampled task 'Pick up the light gray origami crane and place it next to the light gray origami paper crane' [task_sampler.py: 1136] +05/27 17:49:21 INFO: [Worker 0] Worker 0 house 8264 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:49:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:02:44 INFO: [Worker 0] Worker 0 house 8264 episode 0 object objaorigamicrane_1b852180c77842c2867a9ff0a4959f2e_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 18:02:48 INFO: [Worker 0] Batching and saving trajectory data for house_8264: 1 episodes [pipeline.py: 233] +05/27 18:02:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:02:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:02:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8264 [save_utils.py: 703] +05/27 18:02:50 INFO: [Worker 0] Successfully saved trajectory data for house_8264 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 18:02:51 WARNING: [Worker 0] No trajectory data to save for house_8264 [pipeline.py: 229] +05/27 18:02:51 INFO: [Worker 0] Worker 0 completed house 8264: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:02:51 INFO: [Worker 0] Worker 0 starting house 8278 (index 94/115) [pipeline.py: 473] +05/27 18:02:51 INFO: [Worker 0] Loaded 2 episodes for house 8278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 18:02:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:02:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8278_ceiling.xml [task_sampler.py: 797] +05/27 18:02:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8278, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:02:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:02:53 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/27 18:02:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:02:53 INFO: [Worker 0] Sampled task 'Pick up the rectangular metallic keypad with buttons and place it next to the gray ankle boot' [task_sampler.py: 1136] +05/27 18:02:53 INFO: [Worker 0] Worker 0 house 8278 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 18:02:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:13:08 INFO: [Worker 0] Worker 0 house 8278 episode 0 object objakeypad_7994d3067a554e4dab14e88af242f174_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 18:13:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:13:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8278_ceiling.xml [task_sampler.py: 797] +05/27 18:13:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8278, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:13:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:13:15 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/27 18:13:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:13:15 INFO: [Worker 0] Sampled task 'Pick up the blue gold beaded bottle and place it next to the metallic blue toaster' [task_sampler.py: 1136] +05/27 18:13:15 INFO: [Worker 0] Worker 0 house 8278 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 18:13:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:23:38 INFO: [Worker 0] Worker 0 house 8278 episode 1 object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:23:42 INFO: [Worker 0] Batching and saving trajectory data for house_8278: 2 episodes [pipeline.py: 233] +05/27 18:23:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:23:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:23:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:23:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:23:48 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8278 [save_utils.py: 703] +05/27 18:23:48 INFO: [Worker 0] Successfully saved trajectory data for house_8278 in 5.63s (batch: 5.45s, save: 0.18s) [pipeline.py: 280] +05/27 18:23:49 WARNING: [Worker 0] No trajectory data to save for house_8278 [pipeline.py: 229] +05/27 18:23:49 INFO: [Worker 0] Worker 0 completed house 8278: 0/2 successful episodes [pipeline.py: 1243] +05/27 18:23:49 INFO: [Worker 0] Worker 0 starting house 8373 (index 95/115) [pipeline.py: 473] +05/27 18:23:49 INFO: [Worker 0] Loaded 1 episodes for house 8373 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 18:23:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:24:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8373_ceiling.xml [task_sampler.py: 797] +05/27 18:24:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8373, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:24:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:24:11 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/27 18:24:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:24:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:24:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:24:11 INFO: [Worker 0] Sampled task 'Pick up the turquoise spray bottle and place it next to the smooth reflective silver vase' [task_sampler.py: 1136] +05/27 18:24:11 INFO: [Worker 0] Worker 0 house 8373 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:24:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:24:11 WARNING: [Worker 0] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 in scene [object_manager.py: 1238] +05/27 18:24:11 WARNING: [Worker 0] Could not find object objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_7 in scene [object_manager.py: 1238] +05/27 18:24:11 WARNING: [Worker 0] Could not find object soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_7 in scene [object_manager.py: 1238] +05/27 18:25:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:39:56 INFO: [Worker 0] Worker 0 house 8373 episode 0 object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 18:39:59 INFO: [Worker 0] Batching and saving trajectory data for house_8373: 1 episodes [pipeline.py: 233] +05/27 18:39:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:40:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:40:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8373 [save_utils.py: 703] +05/27 18:40:02 INFO: [Worker 0] Successfully saved trajectory data for house_8373 in 2.50s (batch: 2.40s, save: 0.09s) [pipeline.py: 280] +05/27 18:40:02 WARNING: [Worker 0] No trajectory data to save for house_8373 [pipeline.py: 229] +05/27 18:40:02 INFO: [Worker 0] Worker 0 completed house 8373: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:40:02 INFO: [Worker 0] Worker 0 starting house 8410 (index 96/115) [pipeline.py: 473] +05/27 18:40:02 INFO: [Worker 0] Loaded 1 episodes for house 8410 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 18:40:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:40:10 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 18:40:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8410_ceiling.xml [task_sampler.py: 797] +05/27 18:40:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8410, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:40:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:40:12 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/27 18:40:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:40:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:40:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:40:12 INFO: [Worker 0] Sampled task 'Pick up the old rusted circular metal ring and place it next to the colorful blocky toy ship with propeller' [task_sampler.py: 1136] +05/27 18:40:12 INFO: [Worker 0] Worker 0 house 8410 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:40:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:40:12 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 18:41:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:52:31 INFO: [Worker 0] Worker 0 house 8410 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 18:52:35 INFO: [Worker 0] Batching and saving trajectory data for house_8410: 1 episodes [pipeline.py: 233] +05/27 18:52:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:52:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:52:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8410 [save_utils.py: 703] +05/27 18:52:37 INFO: [Worker 0] Successfully saved trajectory data for house_8410 in 2.59s (batch: 2.50s, save: 0.09s) [pipeline.py: 280] +05/27 18:52:38 WARNING: [Worker 0] No trajectory data to save for house_8410 [pipeline.py: 229] +05/27 18:52:38 INFO: [Worker 0] Worker 0 completed house 8410: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:52:38 INFO: [Worker 0] Worker 0 starting house 8495 (index 97/115) [pipeline.py: 473] +05/27 18:52:38 INFO: [Worker 0] Loaded 1 episodes for house 8495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 18:52:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:52:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8495_ceiling.xml [task_sampler.py: 797] +05/27 18:52:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8495, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:52:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:52:43 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 18:52:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:52:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:52:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:52:43 INFO: [Worker 0] Sampled task 'Pick up the curved track and place it next to the medium cardboard box with flaps' [task_sampler.py: 1136] +05/27 18:52:43 INFO: [Worker 0] Worker 0 house 8495 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:52:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:54:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:00:15 INFO: [Worker 0] Worker 0 house 8495 episode 0 object objamodeltraintrack_823d9a0dfeea4d348bb75ecbe96b372a_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 19:00:19 INFO: [Worker 0] Batching and saving trajectory data for house_8495: 1 episodes [pipeline.py: 233] +05/27 19:00:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:00:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:00:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8495 [save_utils.py: 703] +05/27 19:00:21 INFO: [Worker 0] Successfully saved trajectory data for house_8495 in 2.69s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/27 19:00:22 WARNING: [Worker 0] No trajectory data to save for house_8495 [pipeline.py: 229] +05/27 19:00:22 INFO: [Worker 0] Worker 0 completed house 8495: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:00:22 INFO: [Worker 0] Worker 0 starting house 8625 (index 98/115) [pipeline.py: 473] +05/27 19:00:22 INFO: [Worker 0] Loaded 1 episodes for house 8625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 19:00:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:00:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8625_ceiling.xml [task_sampler.py: 797] +05/27 19:00:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8625, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:00:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:00:24 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/27 19:00:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:00:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:00:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:00:25 INFO: [Worker 0] Sampled task 'Pick up the root vegetable and place it next to the medium round red tomato with stem' [task_sampler.py: 1136] +05/27 19:00:25 INFO: [Worker 0] Worker 0 house 8625 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:00:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:01:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:06:42 INFO: [Worker 0] Worker 0 house 8625 episode 0 object Irishpotato_98dee472f1cf0a95c9fbc734935c5ea3_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 19:06:45 INFO: [Worker 0] Batching and saving trajectory data for house_8625: 1 episodes [pipeline.py: 233] +05/27 19:06:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:06:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:06:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8625 [save_utils.py: 703] +05/27 19:06:48 INFO: [Worker 0] Successfully saved trajectory data for house_8625 in 2.56s (batch: 2.47s, save: 0.09s) [pipeline.py: 280] +05/27 19:06:48 WARNING: [Worker 0] No trajectory data to save for house_8625 [pipeline.py: 229] +05/27 19:06:48 INFO: [Worker 0] Worker 0 completed house 8625: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:06:48 INFO: [Worker 0] Worker 0 starting house 8697 (index 99/115) [pipeline.py: 473] +05/27 19:06:48 INFO: [Worker 0] Loaded 1 episodes for house 8697 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 19:06:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:06:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8697_ceiling.xml [task_sampler.py: 797] +05/27 19:06:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8697, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:06:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:06:54 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 19:06:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:06:54 INFO: [Worker 0] Sampled task 'Pick up the miniature traffic light with striped pole and place it next to the gray spray bottle' [task_sampler.py: 1136] +05/27 19:06:54 INFO: [Worker 0] Worker 0 house 8697 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:06:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:08:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:18:38 INFO: [Worker 0] Worker 0 house 8697 episode 0 object objaminiaturetrafficlight_51e10b3176ed4554bcc5ce306f8de3ee_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 19:18:41 INFO: [Worker 0] Batching and saving trajectory data for house_8697: 1 episodes [pipeline.py: 233] +05/27 19:18:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:18:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:18:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8697 [save_utils.py: 703] +05/27 19:18:44 INFO: [Worker 0] Successfully saved trajectory data for house_8697 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 19:18:44 WARNING: [Worker 0] No trajectory data to save for house_8697 [pipeline.py: 229] +05/27 19:18:44 INFO: [Worker 0] Worker 0 completed house 8697: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:18:44 INFO: [Worker 0] Worker 0 starting house 8794 (index 100/115) [pipeline.py: 473] +05/27 19:18:44 INFO: [Worker 0] Loaded 1 episodes for house 8794 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 19:18:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:18:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8794_ceiling.xml [task_sampler.py: 797] +05/27 19:18:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8794, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:18:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:18:56 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/27 19:18:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:18:56 INFO: [Worker 0] Sampled task 'Pick up the paintbrush with wooden handle and place it next to the semi-translucent flat white vase' [task_sampler.py: 1136] +05/27 19:18:56 INFO: [Worker 0] Worker 0 house 8794 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:18:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:29:58 INFO: [Worker 0] Worker 0 house 8794 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 19:30:01 INFO: [Worker 0] Batching and saving trajectory data for house_8794: 1 episodes [pipeline.py: 233] +05/27 19:30:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:30:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:30:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8794 [save_utils.py: 703] +05/27 19:30:04 INFO: [Worker 0] Successfully saved trajectory data for house_8794 in 2.51s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/27 19:30:04 WARNING: [Worker 0] No trajectory data to save for house_8794 [pipeline.py: 229] +05/27 19:30:04 INFO: [Worker 0] Worker 0 completed house 8794: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:30:04 INFO: [Worker 0] Worker 0 starting house 8872 (index 101/115) [pipeline.py: 473] +05/27 19:30:04 INFO: [Worker 0] Loaded 1 episodes for house 8872 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 19:30:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:30:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8872_ceiling.xml [task_sampler.py: 797] +05/27 19:30:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8872, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:30:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:30:12 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/27 19:30:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:30:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:30:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:30:12 INFO: [Worker 0] Sampled task 'Pick up the tall teal product box and place it next to the yellow lyre' [task_sampler.py: 1136] +05/27 19:30:12 INFO: [Worker 0] Worker 0 house 8872 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:30:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:31:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:41:50 INFO: [Worker 0] Worker 0 house 8872 episode 0 object objaproductpackaging_54e8b05815804d33b3322a500b97b1e4_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 19:41:54 INFO: [Worker 0] Batching and saving trajectory data for house_8872: 1 episodes [pipeline.py: 233] +05/27 19:41:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:41:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:41:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8872 [save_utils.py: 703] +05/27 19:41:56 INFO: [Worker 0] Successfully saved trajectory data for house_8872 in 2.92s (batch: 2.83s, save: 0.09s) [pipeline.py: 280] +05/27 19:41:57 WARNING: [Worker 0] No trajectory data to save for house_8872 [pipeline.py: 229] +05/27 19:41:57 INFO: [Worker 0] Worker 0 completed house 8872: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:41:57 INFO: [Worker 0] Worker 0 starting house 8933 (index 102/115) [pipeline.py: 473] +05/27 19:41:57 INFO: [Worker 0] Loaded 1 episodes for house 8933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 19:41:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:42:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8933_ceiling.xml [task_sampler.py: 797] +05/27 19:42:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8933, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:42:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:42:17 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/27 19:42:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:42:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:42:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:42:17 INFO: [Worker 0] Sampled task 'Pick up the small black trafficlight and place it next to the medium brown cardboard storage box' [task_sampler.py: 1136] +05/27 19:42:17 INFO: [Worker 0] Worker 0 house 8933 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:42:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:42:17 WARNING: [Worker 0] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_6 in scene [object_manager.py: 1238] +05/27 19:43:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:00:15 INFO: [Worker 0] Worker 0 house 8933 episode 0 object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 20:00:19 INFO: [Worker 0] Batching and saving trajectory data for house_8933: 1 episodes [pipeline.py: 233] +05/27 20:00:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:00:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:00:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8933 [save_utils.py: 703] +05/27 20:00:21 INFO: [Worker 0] Successfully saved trajectory data for house_8933 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 20:00:22 WARNING: [Worker 0] No trajectory data to save for house_8933 [pipeline.py: 229] +05/27 20:00:22 INFO: [Worker 0] Worker 0 completed house 8933: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:00:22 INFO: [Worker 0] Worker 0 starting house 9017 (index 103/115) [pipeline.py: 473] +05/27 20:00:22 INFO: [Worker 0] Loaded 1 episodes for house 9017 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 20:00:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:00:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9017_ceiling.xml [task_sampler.py: 797] +05/27 20:00:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9017, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:00:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:00:32 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 20:00:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:00:33 INFO: [Worker 0] Sampled task 'Pick up the metal lid and place it next to the rugged brown and reddish textured rock' [task_sampler.py: 1136] +05/27 20:00:33 INFO: [Worker 0] Worker 0 house 9017 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:00:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:00:33 WARNING: [Worker 0] Could not find object objadecorativemarker_162fba8901ea4ce5894d8b0916d802b4_1_0_5 in scene [object_manager.py: 1238] +05/27 20:00:33 WARNING: [Worker 0] Could not find object objadecorativemarker_162fba8901ea4ce5894d8b0916d802b4_2_0_5 in scene [object_manager.py: 1238] +05/27 20:00:33 WARNING: [Worker 0] Could not find object objadecorativeartifact_b1b4c89f78cf4dbda524100885eab273_1_0_5 in scene [object_manager.py: 1238] +05/27 20:02:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:13:24 INFO: [Worker 0] Worker 0 house 9017 episode 0 object objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 20:13:28 INFO: [Worker 0] Batching and saving trajectory data for house_9017: 1 episodes [pipeline.py: 233] +05/27 20:13:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:13:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:13:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9017 [save_utils.py: 703] +05/27 20:13:31 INFO: [Worker 0] Successfully saved trajectory data for house_9017 in 2.77s (batch: 2.68s, save: 0.10s) [pipeline.py: 280] +05/27 20:13:31 WARNING: [Worker 0] No trajectory data to save for house_9017 [pipeline.py: 229] +05/27 20:13:31 INFO: [Worker 0] Worker 0 completed house 9017: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:13:31 INFO: [Worker 0] Worker 0 starting house 9073 (index 104/115) [pipeline.py: 473] +05/27 20:13:31 INFO: [Worker 0] Loaded 1 episodes for house 9073 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 20:13:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:13:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9073_ceiling.xml [task_sampler.py: 797] +05/27 20:13:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9073, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:13:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:13:41 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 20:13:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:13:41 INFO: [Worker 0] Sampled task 'Pick up the chirography and place it next to the white spherical model with label' [task_sampler.py: 1136] +05/27 20:13:41 INFO: [Worker 0] Worker 0 house 9073 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:13:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:26:25 INFO: [Worker 0] Worker 0 house 9073 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 20:26:28 INFO: [Worker 0] Batching and saving trajectory data for house_9073: 1 episodes [pipeline.py: 233] +05/27 20:26:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:26:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:26:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9073 [save_utils.py: 703] +05/27 20:26:30 INFO: [Worker 0] Successfully saved trajectory data for house_9073 in 2.44s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 20:26:31 WARNING: [Worker 0] No trajectory data to save for house_9073 [pipeline.py: 229] +05/27 20:26:31 INFO: [Worker 0] Worker 0 completed house 9073: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:26:31 INFO: [Worker 0] Worker 0 starting house 9142 (index 105/115) [pipeline.py: 473] +05/27 20:26:31 INFO: [Worker 0] Loaded 1 episodes for house 9142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 20:26:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:26:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9142_ceiling.xml [task_sampler.py: 797] +05/27 20:26:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9142, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:26:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:26:44 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 20:26:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:26:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:26:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:26:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:26:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:26:44 INFO: [Worker 0] Sampled task 'Pick up the black rails with sleepers and place it next to the sleek slim dark phone with camera' [task_sampler.py: 1136] +05/27 20:26:44 INFO: [Worker 0] Worker 0 house 9142 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:26:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:28:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:42:26 INFO: [Worker 0] Worker 0 house 9142 episode 0 object objamodeltraintrack_7d23228e7f8a4ae590324697eb36392b_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 20:42:29 INFO: [Worker 0] Batching and saving trajectory data for house_9142: 1 episodes [pipeline.py: 233] +05/27 20:42:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:42:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:42:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9142 [save_utils.py: 703] +05/27 20:42:32 INFO: [Worker 0] Successfully saved trajectory data for house_9142 in 2.55s (batch: 2.45s, save: 0.10s) [pipeline.py: 280] +05/27 20:42:32 WARNING: [Worker 0] No trajectory data to save for house_9142 [pipeline.py: 229] +05/27 20:42:32 INFO: [Worker 0] Worker 0 completed house 9142: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:42:32 INFO: [Worker 0] Worker 0 starting house 9221 (index 106/115) [pipeline.py: 473] +05/27 20:42:32 INFO: [Worker 0] Loaded 1 episodes for house 9221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 20:42:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:43:36 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 20:43:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9221_ceiling.xml [task_sampler.py: 797] +05/27 20:43:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9221, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:43:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:43:40 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/27 20:43:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:43:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:43:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:43:40 INFO: [Worker 0] Sampled task 'Pick up the purple striped paper roll and place it next to the round olive ceramic plate with scallops' [task_sampler.py: 1136] +05/27 20:43:40 INFO: [Worker 0] Worker 0 house 9221 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:43:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:43:40 WARNING: [Worker 0] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_5 in scene [object_manager.py: 1238] +05/27 20:45:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:01:46 INFO: [Worker 0] Worker 0 house 9221 episode 0 object objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 21:01:50 INFO: [Worker 0] Batching and saving trajectory data for house_9221: 1 episodes [pipeline.py: 233] +05/27 21:01:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:01:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:01:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9221 [save_utils.py: 703] +05/27 21:01:53 INFO: [Worker 0] Successfully saved trajectory data for house_9221 in 2.91s (batch: 2.81s, save: 0.09s) [pipeline.py: 280] +05/27 21:01:54 WARNING: [Worker 0] No trajectory data to save for house_9221 [pipeline.py: 229] +05/27 21:01:54 INFO: [Worker 0] Worker 0 completed house 9221: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:01:54 INFO: [Worker 0] Worker 0 starting house 9297 (index 107/115) [pipeline.py: 473] +05/27 21:01:54 INFO: [Worker 0] Loaded 1 episodes for house 9297 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 21:01:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:02:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9297_ceiling.xml [task_sampler.py: 797] +05/27 21:02:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9297, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:02:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:02:13 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/27 21:02:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:02:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:02:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:02:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:02:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:02:13 INFO: [Worker 0] Sampled task 'Pick up the sleek black digital camera with lens and place it next to the tall dark cylindrical column' [task_sampler.py: 1136] +05/27 21:02:13 INFO: [Worker 0] Worker 0 house 9297 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:02:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:03:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:10:24 INFO: [Worker 0] Worker 0 house 9297 episode 0 object objadigitalcamera_904be230d5ac43a6a9604abc946febc7_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 21:10:27 INFO: [Worker 0] Batching and saving trajectory data for house_9297: 1 episodes [pipeline.py: 233] +05/27 21:10:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:10:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:10:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9297 [save_utils.py: 703] +05/27 21:10:30 INFO: [Worker 0] Successfully saved trajectory data for house_9297 in 2.73s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/27 21:10:31 WARNING: [Worker 0] No trajectory data to save for house_9297 [pipeline.py: 229] +05/27 21:10:31 INFO: [Worker 0] Worker 0 completed house 9297: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:10:31 INFO: [Worker 0] Worker 0 starting house 9414 (index 108/115) [pipeline.py: 473] +05/27 21:10:31 INFO: [Worker 0] Loaded 1 episodes for house 9414 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 21:10:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:10:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9414_ceiling.xml [task_sampler.py: 797] +05/27 21:10:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9414, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:10:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:10:49 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/27 21:10:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:10:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:10:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:10:49 INFO: [Worker 0] Sampled task 'Pick up the primitive stone axe with wooden handle and place it next to the lighthouse' [task_sampler.py: 1136] +05/27 21:10:49 INFO: [Worker 0] Worker 0 house 9414 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:10:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:12:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:29:02 INFO: [Worker 0] Worker 0 house 9414 episode 0 object objastoneaxe_bdf39735db194dcbb8ed79d340be699c_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 21:29:06 INFO: [Worker 0] Batching and saving trajectory data for house_9414: 1 episodes [pipeline.py: 233] +05/27 21:29:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:29:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:29:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9414 [save_utils.py: 703] +05/27 21:29:09 INFO: [Worker 0] Successfully saved trajectory data for house_9414 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 21:29:09 WARNING: [Worker 0] No trajectory data to save for house_9414 [pipeline.py: 229] +05/27 21:29:09 INFO: [Worker 0] Worker 0 completed house 9414: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:29:09 INFO: [Worker 0] Worker 0 starting house 9492 (index 109/115) [pipeline.py: 473] +05/27 21:29:09 INFO: [Worker 0] Loaded 1 episodes for house 9492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 21:29:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:29:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9492_ceiling.xml [task_sampler.py: 797] +05/27 21:29:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9492, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:29:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:29:59 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects [json_eval_task_sampler.py: 686] +05/27 21:29:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:29:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:29:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:29:59 INFO: [Worker 0] Sampled task 'Pick up the anchor ring and place it next to the means' [task_sampler.py: 1136] +05/27 21:29:59 INFO: [Worker 0] Worker 0 house 9492 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:30:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:31:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:50:11 INFO: [Worker 0] Worker 0 house 9492 episode 0 object objaring_ec7ca19df70b4b9e9d56f2a2c91dc401_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 21:50:14 INFO: [Worker 0] Batching and saving trajectory data for house_9492: 1 episodes [pipeline.py: 233] +05/27 21:50:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:50:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:50:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9492 [save_utils.py: 703] +05/27 21:50:17 INFO: [Worker 0] Successfully saved trajectory data for house_9492 in 2.90s (batch: 2.80s, save: 0.10s) [pipeline.py: 280] +05/27 21:50:18 WARNING: [Worker 0] No trajectory data to save for house_9492 [pipeline.py: 229] +05/27 21:50:18 INFO: [Worker 0] Worker 0 completed house 9492: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:50:18 INFO: [Worker 0] Worker 0 starting house 9538 (index 110/115) [pipeline.py: 473] +05/27 21:50:18 INFO: [Worker 0] Loaded 1 episodes for house 9538 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 21:50:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:50:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9538_ceiling.xml [task_sampler.py: 797] +05/27 21:50:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9538, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:50:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:50:47 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/27 21:50:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:50:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:50:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:50:47 INFO: [Worker 0] Sampled task 'Pick up the yellow bubble tea cup with straw and place it next to the cup' [task_sampler.py: 1136] +05/27 21:50:47 INFO: [Worker 0] Worker 0 house 9538 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:50:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:50:47 WARNING: [Worker 0] Could not find object objawoodenplaque_1a3b2169bb114128b8ec6c2c53f9dc37_1_0_6 in scene [object_manager.py: 1238] +05/27 21:52:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 22:09:00 INFO: [Worker 0] Worker 0 house 9538 episode 0 object objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 22:09:03 INFO: [Worker 0] Batching and saving trajectory data for house_9538: 1 episodes [pipeline.py: 233] +05/27 22:09:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:09:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:09:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9538 [save_utils.py: 703] +05/27 22:09:06 INFO: [Worker 0] Successfully saved trajectory data for house_9538 in 2.49s (batch: 2.40s, save: 0.09s) [pipeline.py: 280] +05/27 22:09:06 WARNING: [Worker 0] No trajectory data to save for house_9538 [pipeline.py: 229] +05/27 22:09:06 INFO: [Worker 0] Worker 0 completed house 9538: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:09:06 INFO: [Worker 0] Worker 0 starting house 9609 (index 111/115) [pipeline.py: 473] +05/27 22:09:06 INFO: [Worker 0] Loaded 1 episodes for house 9609 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 22:09:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 22:09:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9609_ceiling.xml [task_sampler.py: 797] +05/27 22:09:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9609, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 22:09:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 22:09:21 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 22:09:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 22:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 22:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 22:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 22:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 22:09:21 INFO: [Worker 0] Sampled task 'Pick up the smooth white curved bone and place it next to the cupcake with cherry and wafer' [task_sampler.py: 1136] +05/27 22:09:21 INFO: [Worker 0] Worker 0 house 9609 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 22:09:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:09:22 WARNING: [Worker 0] Could not find object Irishpotato_e58a7a0c37cb0ef9c8155d56cc319ccf_1_0_6 in scene [object_manager.py: 1238] +05/27 22:10:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 22:20:05 INFO: [Worker 0] Worker 0 house 9609 episode 0 object objareplica_c3fe6dddc4ab4d5d89923c6619805710_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 22:20:09 INFO: [Worker 0] Batching and saving trajectory data for house_9609: 1 episodes [pipeline.py: 233] +05/27 22:20:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:20:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:20:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9609 [save_utils.py: 703] +05/27 22:20:12 INFO: [Worker 0] Successfully saved trajectory data for house_9609 in 2.58s (batch: 2.49s, save: 0.09s) [pipeline.py: 280] +05/27 22:20:12 WARNING: [Worker 0] No trajectory data to save for house_9609 [pipeline.py: 229] +05/27 22:20:12 INFO: [Worker 0] Worker 0 completed house 9609: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:20:12 INFO: [Worker 0] Worker 0 starting house 9687 (index 112/115) [pipeline.py: 473] +05/27 22:20:12 INFO: [Worker 0] Loaded 1 episodes for house 9687 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 22:20:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 22:21:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9687_ceiling.xml [task_sampler.py: 797] +05/27 22:21:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9687, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 22:21:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 22:21:01 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/27 22:21:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 22:21:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 22:21:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 22:21:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 22:21:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 22:21:01 INFO: [Worker 0] Sampled task 'Pick up the polished metal door lock and place it next to the purple square pillow' [task_sampler.py: 1136] +05/27 22:21:01 INFO: [Worker 0] Worker 0 house 9687 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 22:21:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:39:43 INFO: [Worker 0] Worker 0 house 9687 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 22:39:47 INFO: [Worker 0] Batching and saving trajectory data for house_9687: 1 episodes [pipeline.py: 233] +05/27 22:39:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:39:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:39:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9687 [save_utils.py: 703] +05/27 22:39:50 INFO: [Worker 0] Successfully saved trajectory data for house_9687 in 2.71s (batch: 2.62s, save: 0.09s) [pipeline.py: 280] +05/27 22:39:50 WARNING: [Worker 0] No trajectory data to save for house_9687 [pipeline.py: 229] +05/27 22:39:50 INFO: [Worker 0] Worker 0 completed house 9687: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:39:50 INFO: [Worker 0] Worker 0 starting house 9768 (index 113/115) [pipeline.py: 473] +05/27 22:39:50 INFO: [Worker 0] Loaded 1 episodes for house 9768 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 22:39:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 22:40:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9768_ceiling.xml [task_sampler.py: 797] +05/27 22:40:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9768, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 22:40:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 22:40:13 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 22:40:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 22:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 22:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 22:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 22:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 22:40:13 INFO: [Worker 0] Sampled task 'Pick up the green pliers and place it next to the white jawbone' [task_sampler.py: 1136] +05/27 22:40:13 INFO: [Worker 0] Worker 0 house 9768 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 22:40:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:41:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 22:53:15 INFO: [Worker 0] Worker 0 house 9768 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 22:53:18 INFO: [Worker 0] Batching and saving trajectory data for house_9768: 1 episodes [pipeline.py: 233] +05/27 22:53:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:53:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:53:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9768 [save_utils.py: 703] +05/27 22:53:21 INFO: [Worker 0] Successfully saved trajectory data for house_9768 in 2.44s (batch: 2.35s, save: 0.09s) [pipeline.py: 280] +05/27 22:53:21 WARNING: [Worker 0] No trajectory data to save for house_9768 [pipeline.py: 229] +05/27 22:53:21 INFO: [Worker 0] Worker 0 completed house 9768: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:53:21 INFO: [Worker 0] Worker 0 starting house 9939 (index 114/115) [pipeline.py: 473] +05/27 22:53:21 INFO: [Worker 0] Loaded 1 episodes for house 9939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/27 22:53:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 22:54:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9939_ceiling.xml [task_sampler.py: 797] +05/27 22:54:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9939, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 22:54:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 22:54:30 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 22:54:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 22:54:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 22:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 22:54:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 22:54:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 22:54:30 INFO: [Worker 0] Sampled task 'Pick up the photoalbum and place it next to the miniature pink torii gate' [task_sampler.py: 1136] +05/27 22:54:30 INFO: [Worker 0] Worker 0 house 9939 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 22:54:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:56:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 23:12:29 INFO: [Worker 0] Worker 0 house 9939 episode 0 object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 23:12:32 INFO: [Worker 0] Batching and saving trajectory data for house_9939: 1 episodes [pipeline.py: 233] +05/27 23:12:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 23:12:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 23:12:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9939 [save_utils.py: 703] +05/27 23:12:35 INFO: [Worker 0] Successfully saved trajectory data for house_9939 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 23:12:36 WARNING: [Worker 0] No trajectory data to save for house_9939 [pipeline.py: 229] +05/27 23:12:36 INFO: [Worker 0] Worker 0 completed house 9939: 0/1 successful episodes [pipeline.py: 1243] +05/27 23:12:36 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/27 23:12:36 INFO: Completed 115 houses, skipped 0 houses [pipeline.py: 1496] +05/27 23:12:36 INFO: Success count: 1, Total count: 119 [pipeline.py: 1499] +05/27 23:12:36 INFO: Success rate: 0.84% [pipeline.py: 1500] diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5654e23e6e87c7a0ed6253160f9fa1b6e3304ce --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/episode_results.jsonl @@ -0,0 +1,119 @@ +{"house_id": "house_1023", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white bowling pin with red stripes and place it next to the black calculator with buttons", "object_name": "objabowlingpin_b64b0c12be0a4242bf20167812a8df9e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1023/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1153", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 285, "task_description": "Pick up the tall white candle on golden holder and place it next to the brown bowl", "object_name": "candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1153/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1223", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden chisel and place it next to the dark green graphics card with fans", "object_name": "objachisel_c6bbc73907ae42b98384b213f166abcc_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1223/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1314", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange cylindrical medicine bottle with label and place it next to the octagonal translucent soap bottle", "object_name": "objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1314/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1382", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna helix and place it next to the alarmclock", "object_name": "objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1382/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1444", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the multicolored molecular model with spheres and place it next to the dark glossy hardcover book with gold", "object_name": "objatoy_bc73d10e6aca4b13ae05b5e4017ed484_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1444/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1602", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white lint roller with handle and place it next to the blue dna helix model with rungs", "object_name": "objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1602/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1700", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vibrant purple artificial flower with stem and place it next to the open brown cardboard storage box", "object_name": "objaartificialflower_6f3a95b0c03144d4831483daed751ca8_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1700/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1771", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate vintage parchment ribbon and place it next to the dark matte cup with grooves", "object_name": "objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1771/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1886", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue ceramic bowl and place it next to the soap bottle", "object_name": "bowl_344f5d88e6486f071740266b3cc43858_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1886/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1963", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black logo featuring yellow car silhouette and place it next to the butterfly knife with colorful gradient blade", "object_name": "objalogo_df86b5ef4e054efca6be94242016e748_1_0_7", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the realistic human hand and place it next to the glossy ripe red tomato with stem", "object_name": "objahandmodel_3a3eb7eda5294f4893fb8236199aea06_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1972/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2037", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue disc with thumbs-up and place it next to the dark square switch plate with screws", "object_name": "objadecorativesymbol_9a0a54db263b4f1a8cdeed4187e70869_1_0_5", "data_file_path": 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"Pick up the rectangular wooden luggage tag with engraving and place it next to the vintage instant camera with rainbow stripe", "object_name": "objaluggagetag_8564a22483104f8aac76a02c12db952a_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2256/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2363", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal kerosene lantern and place it next to the irregular patch of ground", "object_name": "objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the sharp butterfly knife with wood and place it next to the glossy yellow ceramic vase", "object_name": "objabutterflyknife_8e74e69fda494c5e8d4ae75afa1e7df7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2523/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2676", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact wooden radio with display and place it next to the light brown ceramic bowl", "object_name": "objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_6", "data_file_path": 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"Pick up the badge and place it next to the foodstuff", "object_name": "objabadge_7a552ea892ef4891890ee98ad3c99cdd_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2861/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2963", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light green plastic garden hose nozzle and place it next to the fresh green leafy lettuce", "object_name": "objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_2", "data_file_path": 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"task_description": "Pick up the transparent flask with vibrant purple liquid and place it next to the breadstuff", "object_name": "objaflask_c0b5678842064353972d518a67f1ff13_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3199/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3262", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the folded newspaper paper boat and place it next to the soapdispenser", "object_name": "objapaperboat_e7ea8f4837354f6da7e4c4c9ee986ff1_1_0_2", "data_file_path": 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the orange plastic funnel and place it next to the transparent tall wine glass", "object_name": "objafunnel_19cc6aeef5a245d5805be62c0473fb94_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3381/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3441", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the miniature stone tower and place it next to the castle tower with turrets", "object_name": "objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5", "data_file_path": 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"task_description": "Pick up the gray pyramid die with turquoise numbers and place it next to the small decorative green indoor plant", "object_name": "objadie_7dadee868cb5440a909202978960e4f0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3631/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3723", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the translucent blue soap bottle and place it next to the worn brown glove", "object_name": "soapdispenser_0267abb541e75de6e7634578b1e18027_1_0_6", "data_file_path": 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"task_description": "Pick up the black and pink figure and place it next to the colorful bird with pink beak", "object_name": "objaabstractfigure_bed3269ce11c4c078d13536263725547_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3912/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4034", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wireless telephone and place it next to the dark soil slab", "object_name": "objavintagemobilephone_5f7dc6411ae94dd2bb98e59d83832ab1_1_0_2", "data_file_path": 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up the dark tool and place it next to the light blue cat with yellow patterns", "object_name": "objahandtool_ff7b35a3183f4d9fa85d14dd7309dea5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4184/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4184", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue patterned cat and place it next to the gold pump bottle", "object_name": "objadecorativecat_1beba9b24a9143df8559410f1522aad6_1_0_6", "data_file_path": 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"task_description": "Pick up the matte black cylindrical suppressor and place it next to the silver bowl", "object_name": "objasuppressor_bc9f4829adc340aa91290494661592c4_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4283/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4323", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black calculator with buttons and place it next to the green card with flowers", "object_name": "objacalculator_cac428295bf64df59ffad15bc3124b0a_1_0_6", "data_file_path": 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449, "task_description": "Pick up the black spiked collar and place it next to the spray bottle", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4492/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4610", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stone hammer and place it next to the bulbous shiny gold metallic vase", "object_name": "objastonehammer_ad3d9fa077264d4484c91c6b05888a4e_1_0_2", "data_file_path": 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"task_description": "Pick up the black cylindrical scope with lens and place it next to the small green tractor", "object_name": "objascope_74a317bd8f2c458a9ab89c9a188900e4_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4712/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4793", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handheld gps with blue screen and place it next to the shallow white square ceramic bowl", "object_name": "objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_4", "data_file_path": 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449, "task_description": "Pick up the textured black yellow screwdriver and place it next to the green spherical lettuce", "object_name": "objascrewdriver_215ef6cbb3de40e2ab420f4332534bd9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4957/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5050", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black lightning trophy with base and place it next to the potato", "object_name": "objaaward_767baba2ef7145d188ab5437730b76ff_1_0_2", "data_file_path": 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"task_description": "Pick up the blue star mold and place it next to the large red tomato", "object_name": "objamold_225720a070c046dba53c77e9a0a7716f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5200/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5342", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pagoda pop-up card and place it next to the vintage film projector with leather", "object_name": "objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7", "data_file_path": 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decorative wooden hatchet and place it next to the moka pot", "object_name": "objahatchet_0dfc7c5654e945daac9bd0ab195b24ee_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5543/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5606", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the mechanical device and place it next to the rectangular dark gray tufted pillow", "object_name": "objabicyclepump_283379c9c7c9422c8a0c5213c827723f_1_0_3", "data_file_path": 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"Pick up the gray cylindrical bacterium with flagella and place it next to the smooth white decorative molding", "object_name": "objabacteriummodel_f44d9a3b51e14bf38fe32292b0ac8bba_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_571/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5770", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large gray cylindrical metal bolt and place it next to the rectangular color calibration chart with colors", "object_name": "objabolt_2ccd6566b5714c5da3b61d3682ec64ac_1_0_2", "data_file_path": 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"task_description": "Pick up the shiny gold brown fish sculpture and place it next to the pizza slice with crust", "object_name": "objadecorativefishsculpture_cc5426d3090c4047a1e4d5aa38c95d7a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5923/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6057", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light brown cylindrical fabric spool and place it next to the metal bolt", "object_name": "objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_8", "data_file_path": 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"task_description": "Pick up the bronze full-figured statue and place it next to the vintage green aircraft", "object_name": "statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_614/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6204", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic brown dish and place it next to the bulbous shiny gold metallic vase", "object_name": "objadish_59f077a37f3e4a369b488209046e5aeb_1_0_2", "data_file_path": 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"Pick up the root vegetable and place it next to the medium round red tomato with stem", "object_name": "Irishpotato_98dee472f1cf0a95c9fbc734935c5ea3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8625/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8697", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the miniature traffic light with striped pole and place it next to the gray spray bottle", "object_name": "objaminiaturetrafficlight_51e10b3176ed4554bcc5ce306f8de3ee_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8697/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8794", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the paintbrush with wooden handle and place it next to the semi-translucent flat white vase", "object_name": "objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8794/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8872", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall teal product box and place it next to the yellow lyre", "object_name": "objaproductpackaging_54e8b05815804d33b3322a500b97b1e4_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8872/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8933", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small black trafficlight and place it next to the medium brown cardboard storage box", "object_name": "objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8933/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9017", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal lid and place it next to the rugged brown and reddish textured rock", "object_name": "objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9017/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9073", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chirography and place it next to the white spherical model with label", "object_name": "objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9073/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9142", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rails with sleepers and place it next to the sleek slim dark phone with camera", "object_name": "objamodeltraintrack_7d23228e7f8a4ae590324697eb36392b_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9142/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9221", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple striped paper roll and place it next to the round olive ceramic plate with scallops", "object_name": "objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9221/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_927", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ergonomic black wireless mouse and place it next to the green mechanical fish", "object_name": "objacomputermouse_9ef32c2cbe46448db358b472f806c298_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_927/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9297", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black digital camera with lens and place it next to the tall dark cylindrical column", "object_name": "objadigitalcamera_904be230d5ac43a6a9604abc946febc7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9297/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9414", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive stone axe with wooden handle and place it next to the lighthouse", "object_name": "objastoneaxe_bdf39735db194dcbb8ed79d340be699c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9414/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9492", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the anchor ring and place it next to the means", "object_name": "objaring_ec7ca19df70b4b9e9d56f2a2c91dc401_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9492/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9538", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow bubble tea cup with straw and place it next to the cup", "object_name": "objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9538/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9609", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth white curved bone and place it next to the cupcake with cherry and wafer", "object_name": "objareplica_c3fe6dddc4ab4d5d89923c6619805710_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9609/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9687", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished metal door lock and place it next to the purple square pillow", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9687/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9768", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green pliers and place it next to the white jawbone", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9768/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9939", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the photoalbum and place it next to the miniature pink torii gate", "object_name": "objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9939/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..ae37148c21c5745d0a57947e3d0714e7b100b24b --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/eval.log @@ -0,0 +1,3746 @@ +[2026-05-26 19:43:51,346] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,348] INFO Using MuJoCo EGL device id: 5 +[2026-05-26 19:43:51,348] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,378] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 (source=arg) +[2026-05-26 19:43:53,339] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:04,498] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,280] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,281] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,726] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,776] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,323] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [571, + 614, + 679, + 725, + 778, + 861, + 927, + 1023, + 1153, + 1223, + 1314, + 1382, + 1444, + 1602, + 1700, + 1771, + 1886, + 1963, + 1972, + 2037, + 2151, + 2256, + 2363, + 2467, + 2523, + 2676, + 2791, + 2861, + 2963, + 3056, + 3199, + 3262, + 3286, + 3381, + 3441, + 3527, + 3631, + 3723, + 3776, + 3912, + 4034, + 4136, + 4184, + 4205, + 4283, + 4323, + 4398, + 4492, + 4610, + 4677, + 4712, + 4793, + 4870, + 4957, + 5050, + 5145, + 5200, + 5342, + 5453, + 5543, + 5606, + 5666, + 5770, + 5896, + 5923, + 6057, + 6120, + 6204, + 6213, + 6257, + 6302, + 6385, + 6452, + 6543, + 6698, + 6766, + 6884, + 6941, + 7013, + 7076, + 7172, + 7281, + 7343, + 7377, + 7449, + 7506, + 7641, + 7755, + 7847, + 7933, + 8019, + 8115, + 8221, + 8264, + 8278, + 8373, + 8410, + 8495, + 8625, + 8697, + 8794, + 8872, + 8933, + 9017, + 9073, + 9142, + 9221, + 9297, + 9414, + 9492, + 9538, + 9609, + 9687, + 9768, + 9939], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,330] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 571 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/26 19:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 19:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_5 in scene +Goal: place gray cylindrical bacterium with flagella next to smooth white decorative molding +2026-05-26 19:48:35.069 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:36,027] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:37,102] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:37,645] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:37,844] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:37,847] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 19:59:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 571 episode 0 object objabacteriummodel_f44d9a3b51e14bf38fe32292b0ac8bba_1_0_8 completed with success=False +[05/26 19:59:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_571: 1 episodes +[05/26 19:59:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:59:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:59:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_571 +[05/26 19:59:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_571 in 2.51s (batch: 2.43s, save: 0.09s) +[05/26 19:59:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_571 +[05/26 19:59:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 571: 0/1 successful episodes +[05/26 19:59:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 614 (index 1/115) +[05/26 19:59:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 614 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 19:59:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/26 19:59:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_3 in scene +Goal: place bronze full-figured statue next to vintage green aircraft +[2026-05-26 20:00:51,121] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:01:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:08:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 614 episode 0 object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_3 completed with success=False +[05/26 20:08:37 Worker 0[0m INFO pipeline.py:233] Batching and saving trajectory data for house_614: 1 episodes +[05/26 20:08:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:08:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:08:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_614 +[05/26 20:08:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_614 in 2.42s (batch: 2.33s, save: 0.09s) +[05/26 20:08:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_614 +[05/26 20:08:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 614: 0/1 successful episodes +[05/26 20:08:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 679 (index 2/115) +[05/26 20:08:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 679 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 20:08:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object apple_1184bcea45a878476443040fbba5b76d_1_0_2 in scene +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5 in scene +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_7 in scene +Goal: place pale yellow disk with indentations next to soapdispenser +[2026-05-26 20:10:27,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:11:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:28:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 679 episode 0 object objadisk_97aa2085a8c143c0aacdce273d66d03d_2_0_2 completed with success=False +[05/26 20:28:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_679: 1 episodes +[05/26 20:28:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:28:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:28:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_679 +[05/26 20:28:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_679 in 2.78s (batch: 2.69s, save: 0.09s) +[05/26 20:28:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_679 +[05/26 20:28:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 679: 0/1 successful episodes +[05/26 20:28:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 725 (index 3/115) +[05/26 20:28:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 20:28:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place miniature stone tower next to n95 mask with blue valve +[2026-05-26 20:30:13,727] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:30:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:42:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 725 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_2_0_5 completed with success=False +[05/26 20:42:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_725: 1 episodes +[05/26 20:42:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:42:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:42:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_725 +[05/26 20:42:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_725 in 2.45s (batch: 2.36s, save: 0.09s) +[05/26 20:42:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_725 +[05/26 20:42:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 725: 0/1 successful episodes +[05/26 20:42:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 778 (index 4/115) +[05/26 20:42:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 778 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 20:42:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 20:43:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene +[05/26 20:43:19 Worker 0 WARNING object_manager.py:1238] Could not find object objasyringe_b76be5e0927040008050d7eae6dd2836_1_0_9 in scene +Goal: place orange ribbon star medal next to small gold dog statue +[2026-05-26 20:44:22,080] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:04:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 778 episode 0 object objamedal_33981284489f4a7b930e6cc917400042_1_0_6 completed with success=False +[05/26 21:04:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_778: 1 episodes +[05/26 21:04:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:04:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:04:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_778 +[05/26 21:04:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_778 in 2.78s (batch: 2.69s, save: 0.09s) +[05/26 21:04:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_778 +[05/26 21:04:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 778: 0/1 successful episodes +[05/26 21:04:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 861 (index 5/115) +[05/26 21:04:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 861 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:04:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaalienheadsculpture_72c057433cf8401d823713884723692c_1_0_4 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objadigitalart_15d28a35f51d40b5b8483db4e53af2b7_1_0_8 in scene +Goal: place brown carved stone seal with lion next to rugged handheld radio +[2026-05-26 21:06:11,395] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:06:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:18:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 861 episode 0 object objaseal_8197dcc6f59241cea24f1ac503c6e085_1_0_9 completed with success=False +[05/26 21:18:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_861: 1 episodes +[05/26 21:18:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:18:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:18:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_861 +[05/26 21:18:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_861 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 21:18:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_861 +[05/26 21:18:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 861: 0/1 successful episodes +[05/26 21:18:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 927 (index 6/115) +[05/26 21:18:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 927 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:18:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place ergonomic black wireless mouse next to green mechanical fish +[2026-05-26 21:19:58,875] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:37:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 927 episode 0 object objacomputermouse_9ef32c2cbe46448db358b472f806c298_1_0_2 completed with success=False +[05/26 21:37:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_927: 1 episodes +[05/26 21:37:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:37:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:37:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_927 +[05/26 21:37:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_927 in 2.82s (batch: 2.72s, save: 0.09s) +[05/26 21:37:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_927 +[05/26 21:37:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 927: 0/1 successful episodes +[05/26 21:37:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1023 (index 7/115) +[05/26 21:37:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1023 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:37:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/26 21:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_5 in scene +[05/26 21:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_30f356d441a74ef5a5311cfce28ccbf8_1_0_5 in scene +[05/26 21:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene +Goal: place white bowling pin with red stripes next to black calculator with buttons +[2026-05-26 21:38:57,291] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:39:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:56:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 1023 episode 0 object objabowlingpin_b64b0c12be0a4242bf20167812a8df9e_1_0_4 completed with success=False +[05/26 21:56:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1023: 1 episodes +[05/26 21:56:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:56:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:56:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1023 +[05/26 21:56:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1023 in 2.47s (batch: 2.38s, save: 0.09s) +[05/26 21:56:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1023 +[05/26 21:56:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1023: 0/1 successful episodes +[05/26 21:56:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1153 (index 8/115) +[05/26 21:56:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:56:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 21:56:36 Worker 0 WARNING object_manager.py:1238] Could not find object objacan_615d050718e849d2812ecfab3815bb6f_1_0_2 in scene +[05/26 21:56:36 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_39a09e2414136c22c19ce43e027d1f9a_1_0_2 in scene +Goal: place tall white candle on golden holder next to brown bowl +[2026-05-26 21:57:33,849] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:05:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 1153 episode 0 object candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_4 completed with success=True +[05/26 22:06:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1153: 1 episodes +[05/26 22:06:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 287 timesteps +[05/26 22:06:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:06:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1153 +[05/26 22:06:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1153 in 2.76s (batch: 2.69s, save: 0.07s) +[05/26 22:06:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1153 +[05/26 22:06:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1153: 1/1 successful episodes +[05/26 22:06:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1223 (index 9/115) +[05/26 22:06:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1223 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:06:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 22:07:02 Worker 0 WARNING object_manager.py:1238] Could not find object objabridgemodel_8dc8d8f731e346d8bef78d655e5fc3ce_1_0_4 in scene +[05/26 22:07:02 Worker 0 WARNING object_manager.py:1238] Could not find object objabridgemodel_8dc8d8f731e346d8bef78d655e5fc3ce_2_0_4 in scene +Goal: place wooden chisel next to dark green graphics card with fans +[2026-05-26 22:08:04,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:08:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:21:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 1223 episode 0 object objachisel_c6bbc73907ae42b98384b213f166abcc_1_0_4 completed with success=False +[05/26 22:21:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1223: 1 episodes +[05/26 22:21:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:21:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:21:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1223 +[05/26 22:21:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1223 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 22:21:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1223 +[05/26 22:21:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1223: 0/1 successful episodes +[05/26 22:21:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1314 (index 10/115) +[05/26 22:21:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:21:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/26 22:21:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene +Goal: place orange cylindrical medicine bottle with label next to octagonal translucent soap bottle +[2026-05-26 22:22:55,199] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:23:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:40:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 1314 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2 completed with success=False +[05/26 22:40:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1314: 1 episodes +[05/26 22:40:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:40:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:40:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1314 +[05/26 22:40:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1314 in 2.64s (batch: 2.55s, save: 0.09s) +[05/26 22:40:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1314 +[05/26 22:40:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1314: 0/1 successful episodes +[05/26 22:40:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1382 (index 11/115) +[05/26 22:40:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:40:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 22:40:26 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_5 in scene +[05/26 22:40:26 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene +Goal: place blue dna helix next to alarmclock +[2026-05-26 22:41:29,073] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:42:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:57:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1382 episode 0 object objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_6 completed with success=False +[05/26 22:57:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1382: 1 episodes +[05/26 22:57:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:57:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:57:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1382 +[05/26 22:57:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1382 in 2.41s (batch: 2.33s, save: 0.09s) +[05/26 22:57:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1382 +[05/26 22:57:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1382: 0/1 successful episodes +[05/26 22:57:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1444 (index 12/115) +[05/26 22:57:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:57:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 22:58:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene +[05/26 22:58:22 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene +Goal: place multicolored molecular model with spheres next to dark glossy hardcover book with gold +[2026-05-26 22:59:22,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:59:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:12:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 1444 episode 0 object objatoy_bc73d10e6aca4b13ae05b5e4017ed484_1_0_8 completed with success=False +[05/26 23:12:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1444: 1 episodes +[05/26 23:12:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:12:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:12:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1444 +[05/26 23:12:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1444 in 2.41s (batch: 2.33s, save: 0.09s) +[05/26 23:12:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1444 +[05/26 23:12:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1444: 0/1 successful episodes +[05/26 23:12:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1602 (index 13/115) +[05/26 23:12:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1602 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:12:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place white lint roller with handle next to blue dna helix model with rungs +[2026-05-26 23:14:17,785] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:14:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:29:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1602 episode 0 object objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_6 completed with success=False +[05/26 23:29:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1602: 1 episodes +[05/26 23:29:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:29:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1602 +[05/26 23:29:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1602 in 2.40s (batch: 2.32s, save: 0.09s) +[05/26 23:29:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1602 +[05/26 23:29:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1602: 0/1 successful episodes +[05/26 23:29:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1700 (index 14/115) +[05/26 23:29:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1700 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:29:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 23:30:21 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_d55375337d624047a92b414be8daed92_1_0_4 in scene +[05/26 23:30:21 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene +Goal: place vibrant purple artificial flower with stem next to open brown cardboard storage box +[2026-05-26 23:31:23,454] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:31:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 1700 episode 0 object objaartificialflower_6f3a95b0c03144d4831483daed751ca8_1_0_9 completed with success=False +[05/26 23:46:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1700: 1 episodes +[05/26 23:46:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:46:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:46:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1700 +[05/26 23:46:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1700 in 2.81s (batch: 2.71s, save: 0.09s) +[05/26 23:46:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1700 +[05/26 23:46:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1700: 0/1 successful episodes +[05/26 23:46:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1771 (index 15/115) +[05/26 23:46:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1771 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:46:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place intricate vintage parchment ribbon next to dark matte cup with grooves +[2026-05-26 23:47:27,446] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:48:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:58:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 1771 episode 0 object objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_6 completed with success=False +[05/26 23:58:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1771: 1 episodes +[05/26 23:58:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:58:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:58:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1771 +[05/26 23:58:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1771 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 23:58:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1771 +[05/26 23:58:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1771: 0/1 successful episodes +[05/26 23:58:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1886 (index 16/115) +[05/26 23:58:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:58:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 00:02:44 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_6452090508df9a6b064d30e3553d5969_1_0_6 in scene +[05/27 00:02:44 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_c3140ad00db4cb9c43915d10d03cd1b9_1_0_6 in scene +Goal: place blue ceramic bowl next to soap bottle +[2026-05-27 00:03:46,784] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:19:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 1886 episode 0 object bowl_344f5d88e6486f071740266b3cc43858_1_0_8 completed with success=False +[05/27 00:20:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1886: 1 episodes +[05/27 00:20:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:20:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:20:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1886 +[05/27 00:20:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1886 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 00:20:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1886 +[05/27 00:20:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1886: 0/1 successful episodes +[05/27 00:20:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1963 (index 17/115) +[05/27 00:20:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 00:20:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place black logo featuring yellow car silhouette next to butterfly knife with colorful gradient blade +[2026-05-27 00:24:01,283] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:24:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:32:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 1963 episode 0 object objalogo_df86b5ef4e054efca6be94242016e748_1_0_7 completed with success=False +[05/27 00:32:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place compact olive green emergency radio next to butterfly knife with colorful gradient blade +[2026-05-27 00:33:40,627] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:34:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:42:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 1963 episode 1 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_7 completed with success=False +[05/27 00:42:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1963: 2 episodes +[05/27 00:42:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:42:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:42:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:42:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:42:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1963 +[05/27 00:42:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1963 in 4.86s (batch: 4.69s, save: 0.17s) +[05/27 00:42:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1963 +[05/27 00:42:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1963: 0/2 successful episodes +[05/27 00:42:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1972 (index 18/115) +[05/27 00:42:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 00:42:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place realistic human hand next to glossy ripe red tomato with stem +[2026-05-27 00:43:27,188] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:44:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:53:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 1972 episode 0 object objahandmodel_3a3eb7eda5294f4893fb8236199aea06_1_0_6 completed with success=False +[05/27 00:53:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1972: 1 episodes +[05/27 00:53:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:53:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:53:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1972 +[05/27 00:53:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1972 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 00:53:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1972 +[05/27 00:53:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1972: 0/1 successful episodes +[05/27 00:53:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2037 (index 19/115) +[05/27 00:53:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2037 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 00:53:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 00:55:50 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene +[05/27 00:55:50 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_2_0_5 in scene +Goal: place blue disc with thumbs-up next to dark square switch plate with screws +[2026-05-27 00:56:53,829] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:57:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:12:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 2037 episode 0 object objadecorativesymbol_9a0a54db263b4f1a8cdeed4187e70869_1_0_5 completed with success=False +[05/27 01:12:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2037: 1 episodes +[05/27 01:12:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:12:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:12:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2037 +[05/27 01:12:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2037 in 2.51s (batch: 2.43s, save: 0.09s) +[05/27 01:12:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2037 +[05/27 01:12:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2037: 0/1 successful episodes +[05/27 01:12:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2151 (index 20/115) +[05/27 01:12:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2151 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:12:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 01:13:01 Worker 0 WARNING object_manager.py:1238] Could not find object objabranch_c8fd0c9188a4425da438b523e548260a_1_0_6 in scene +[05/27 01:13:01 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestone_a19f0e4b24284b9294c0b64bb1a3f35a_1_0_6 in scene +Goal: place handmade mallet with stones next to cleaning product +[2026-05-27 01:14:05,096] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:14:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 2151 episode 0 object objadecorativemallet_c9c8c6e330c94b55a830e67d1529cb1f_1_0_4 completed with success=False +[05/27 01:28:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2151: 1 episodes +[05/27 01:28:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:28:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:28:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2151 +[05/27 01:28:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2151 in 2.93s (batch: 2.83s, save: 0.10s) +[05/27 01:28:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2151 +[05/27 01:28:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2151: 0/1 successful episodes +[05/27 01:28:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2256 (index 21/115) +[05/27 01:28:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2256 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:28:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place rectangular wooden luggage tag with engraving next to vintage instant camera with rainbow stripe +[2026-05-27 01:30:45,756] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:31:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:43:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2256 episode 0 object objaluggagetag_8564a22483104f8aac76a02c12db952a_2_0_6 completed with success=False +[05/27 01:43:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2256: 1 episodes +[05/27 01:43:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:43:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:43:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2256 +[05/27 01:43:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2256 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 01:43:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2256 +[05/27 01:43:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2256: 0/1 successful episodes +[05/27 01:43:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2363 (index 22/115) +[05/27 01:43:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2363 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:43:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 01:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/27 01:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_6275746374cf4768bbe8d2dcfeefb596_1_0_5 in scene +Goal: place vintage metal kerosene lantern next to irregular patch of ground +[2026-05-27 01:44:22,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 2363 episode 0 object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9 completed with success=False +[05/27 01:57:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2363: 1 episodes +[05/27 01:57:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:57:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:57:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2363 +[05/27 01:57:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2363 in 2.42s (batch: 2.34s, save: 0.09s) +[05/27 01:57:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2363 +[05/27 01:57:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2363: 0/1 successful episodes +[05/27 01:57:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2467 (index 23/115) +[05/27 01:57:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2467 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:57:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 01:57:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 01:57:32 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene +[05/27 01:57:32 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place hexagonal dark stone platform next to stylized orange butterfly with brown body +[2026-05-27 01:58:34,518] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:16:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2467 episode 0 object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_9 completed with success=False +[05/27 02:16:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2467: 1 episodes +[05/27 02:16:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:16:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:16:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2467 +[05/27 02:16:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2467 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 02:16:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2467 +[05/27 02:16:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2467: 0/1 successful episodes +[05/27 02:16:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2523 (index 24/115) +[05/27 02:16:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:16:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 02:16:39 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_3 in scene +[05/27 02:16:39 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_3 in scene +Goal: place sharp butterfly knife with wood next to glossy yellow ceramic vase +[2026-05-27 02:17:42,196] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:18:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:31:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 2523 episode 0 object objabutterflyknife_8e74e69fda494c5e8d4ae75afa1e7df7_1_0_2 completed with success=False +[05/27 02:31:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2523: 1 episodes +[05/27 02:31:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:31:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:31:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2523 +[05/27 02:31:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2523 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 02:31:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2523 +[05/27 02:31:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2523: 0/1 successful episodes +[05/27 02:31:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2676 (index 25/115) +[05/27 02:31:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:31:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 02:31:40 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/27 02:31:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene +Goal: place compact wooden radio with display next to light brown ceramic bowl +[2026-05-27 02:32:44,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:33:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:43:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 2676 episode 0 object objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_6 completed with success=False +[05/27 02:43:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2676: 1 episodes +[05/27 02:43:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:43:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:43:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2676 +[05/27 02:43:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2676 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 02:43:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2676 +[05/27 02:43:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2676: 0/1 successful episodes +[05/27 02:43:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2791 (index 26/115) +[05/27 02:43:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2791 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:43:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place purple pekito chocolate snack package next to breadstuff +[2026-05-27 02:44:43,999] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:59:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 2791 episode 0 object objasnackpackage_569da04563544734bd90630d57fc7be2_1_0_8 completed with success=False +[05/27 02:59:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2791: 1 episodes +[05/27 02:59:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:59:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:59:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2791 +[05/27 02:59:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2791 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 02:59:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2791 +[05/27 02:59:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2791: 0/1 successful episodes +[05/27 02:59:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2861 (index 27/115) +[05/27 02:59:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2861 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:59:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 02:59:16 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 in scene +[05/27 02:59:16 Worker 0 WARNING object_manager.py:1238] Could not find object objarocketmodel_0426922358b4444f9887bcd551d3a5cb_1_0_7 in scene +[05/27 02:59:16 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_7 in scene +Goal: place badge next to foodstuff +[2026-05-27 03:00:22,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:00:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:09:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 2861 episode 0 object objabadge_7a552ea892ef4891890ee98ad3c99cdd_1_0_6 completed with success=False +[05/27 03:09:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2861: 1 episodes +[05/27 03:09:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:09:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:09:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2861 +[05/27 03:09:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2861 in 2.81s (batch: 2.71s, save: 0.09s) +[05/27 03:09:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2861 +[05/27 03:09:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2861: 0/1 successful episodes +[05/27 03:09:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2963 (index 28/115) +[05/27 03:09:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:09:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place light green plastic garden hose nozzle next to fresh green leafy lettuce +[2026-05-27 03:10:56,769] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:11:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:19:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 2963 episode 0 object objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_2 completed with success=False +[05/27 03:19:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2963: 1 episodes +[05/27 03:19:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:19:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:19:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2963 +[05/27 03:19:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2963 in 2.79s (batch: 2.69s, save: 0.09s) +[05/27 03:19:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2963 +[05/27 03:19:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2963: 0/1 successful episodes +[05/27 03:19:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3056 (index 29/115) +[05/27 03:19:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3056 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:19:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place white aerodynamic shell next to slim rectangular metallic phone +[2026-05-27 03:20:50,523] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:32:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3056 episode 0 object objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_9 completed with success=False +[05/27 03:32:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3056: 1 episodes +[05/27 03:32:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:32:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:32:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3056 +[05/27 03:32:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3056 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 03:32:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3056 +[05/27 03:32:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3056: 0/1 successful episodes +[05/27 03:32:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3199 (index 30/115) +[05/27 03:32:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3199 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:32:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place transparent flask with vibrant purple liquid next to breadstuff +[2026-05-27 03:33:28,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:34:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:44:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 3199 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_6 completed with success=False +[05/27 03:44:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3199: 1 episodes +[05/27 03:44:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:45:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:45:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3199 +[05/27 03:45:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3199 in 2.95s (batch: 2.86s, save: 0.10s) +[05/27 03:45:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3199 +[05/27 03:45:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3199: 0/1 successful episodes +[05/27 03:45:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3262 (index 31/115) +[05/27 03:45:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3262 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:45:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place folded newspaper paper boat next to soapdispenser +[2026-05-27 03:46:09,195] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:46:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:51:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3262 episode 0 object objapaperboat_e7ea8f4837354f6da7e4c4c9ee986ff1_1_0_2 completed with success=False +[05/27 03:51:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3262: 1 episodes +[05/27 03:51:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:51:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:51:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3262 +[05/27 03:51:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3262 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 03:51:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3262 +[05/27 03:51:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3262: 0/1 successful episodes +[05/27 03:51:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3286 (index 32/115) +[05/27 03:51:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:51:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place smooth wooden rod next to round brown bread loaf +[2026-05-27 03:52:56,564] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:53:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:01:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3286 episode 0 object objawoodenrod_bdf07f6c648b4d74af80ea7103ac384c_1_0_6 completed with success=False +[05/27 04:01:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3286: 1 episodes +[05/27 04:01:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:01:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:01:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3286 +[05/27 04:01:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3286 in 2.92s (batch: 2.82s, save: 0.10s) +[05/27 04:01:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3286 +[05/27 04:01:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3286: 0/1 successful episodes +[05/27 04:01:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3381 (index 33/115) +[05/27 04:01:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3381 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:01:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place orange plastic funnel next to transparent tall wine glass +[2026-05-27 04:03:07,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:03:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:13:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 3381 episode 0 object objafunnel_19cc6aeef5a245d5805be62c0473fb94_1_0_8 completed with success=False +[05/27 04:13:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3381: 1 episodes +[05/27 04:13:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:13:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:13:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3381 +[05/27 04:13:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3381 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 04:13:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3381 +[05/27 04:13:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3381: 0/1 successful episodes +[05/27 04:13:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3441 (index 34/115) +[05/27 04:13:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:13:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place miniature stone tower next to castle tower with turrets +[2026-05-27 04:14:52,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:30:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3441 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 completed with success=False +[05/27 04:30:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3441: 1 episodes +[05/27 04:30:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:30:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:30:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3441 +[05/27 04:30:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3441 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 04:30:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3441 +[05/27 04:30:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3441: 0/1 successful episodes +[05/27 04:30:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3527 (index 35/115) +[05/27 04:30:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3527 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:30:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place compact black reflex sight next to large black hardcover book +[2026-05-27 04:31:28,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:47:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 3527 episode 0 object objareflexsight_0cf999d9363940c2b149dcd80c448554_1_0_4 completed with success=False +[05/27 04:47:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3527: 1 episodes +[05/27 04:47:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:47:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:47:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3527 +[05/27 04:47:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3527 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 04:47:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3527 +[05/27 04:47:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3527: 0/1 successful episodes +[05/27 04:47:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3631 (index 36/115) +[05/27 04:47:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:47:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place gray pyramid die with turquoise numbers next to small decorative green indoor plant +[2026-05-27 04:48:32,696] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:49:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:57:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 3631 episode 0 object objadie_7dadee868cb5440a909202978960e4f0_1_0_6 completed with success=False +[05/27 04:57:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3631: 1 episodes +[05/27 04:57:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:57:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:57:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3631 +[05/27 04:57:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3631 in 2.44s (batch: 2.36s, save: 0.09s) +[05/27 04:57:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3631 +[05/27 04:57:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3631: 0/1 successful episodes +[05/27 04:57:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3723 (index 37/115) +[05/27 04:57:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:57:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/27 04:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 in scene +[05/27 04:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objalicenseplate_de125bed7cf34a688c3b350458528c29_1_0_6 in scene +Goal: place translucent blue soap bottle next to worn brown glove +[2026-05-27 04:58:24,409] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:58:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:06:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3723 episode 0 object soapdispenser_0267abb541e75de6e7634578b1e18027_1_0_6 completed with success=False +[05/27 05:06:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3723: 1 episodes +[05/27 05:06:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:06:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:06:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3723 +[05/27 05:06:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3723 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 05:06:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3723 +[05/27 05:06:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3723: 0/1 successful episodes +[05/27 05:06:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3776 (index 38/115) +[05/27 05:06:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3776 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:06:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place large olive green clothespin with spring next to metal lever with base +[2026-05-27 05:07:15,798] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:21:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 3776 episode 0 object objaclothespin_42ca19f6f28340d090ed5773924f5f83_1_0_6 completed with success=False +[05/27 05:21:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3776: 1 episodes +[05/27 05:21:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:21:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:21:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3776 +[05/27 05:21:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3776 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 05:21:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3776 +[05/27 05:21:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3776: 0/1 successful episodes +[05/27 05:21:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3912 (index 39/115) +[05/27 05:21:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:21:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_3 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_bad11b50862f471a9dc45ecee981603f_1_0_5 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_6628f95227c24e07ab786e2368171656_1_0_5 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_8c95dcf230a14c4834feec5a2bb28749_1_0_6 in scene +Goal: place black and pink figure next to colorful bird with pink beak +[2026-05-27 05:22:46,942] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:23:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:37:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 3912 episode 0 object objaabstractfigure_bed3269ce11c4c078d13536263725547_1_0_2 completed with success=False +[05/27 05:37:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3912: 1 episodes +[05/27 05:37:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:37:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:37:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3912 +[05/27 05:37:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3912 in 2.44s (batch: 2.36s, save: 0.09s) +[05/27 05:37:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3912 +[05/27 05:37:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3912: 0/1 successful episodes +[05/27 05:37:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4034 (index 40/115) +[05/27 05:37:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4034 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:37:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 05:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_75c82681c158404196c70e5d44d72c34_1_0_5 in scene +[05/27 05:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene +[05/27 05:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +Goal: place wireless telephone next to dark soil slab +[2026-05-27 05:38:39,494] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:54:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4034 episode 0 object objavintagemobilephone_5f7dc6411ae94dd2bb98e59d83832ab1_1_0_2 completed with success=False +[05/27 05:54:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4034: 1 episodes +[05/27 05:54:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:54:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:54:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4034 +[05/27 05:54:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4034 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 05:54:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4034 +[05/27 05:54:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4034: 0/1 successful episodes +[05/27 05:54:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4136 (index 41/115) +[05/27 05:54:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4136 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:54:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place red and white block sign next to light gray wooden bowl +[2026-05-27 05:55:52,141] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4136 episode 0 object objasignage_15cd21252eda4ee780eb3be74d655d40_1_0_2 completed with success=False +[05/27 06:10:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4136: 1 episodes +[05/27 06:10:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:10:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:10:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4136 +[05/27 06:10:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4136 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 06:10:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4136 +[05/27 06:10:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4136: 0/1 successful episodes +[05/27 06:10:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4184 (index 42/115) +[05/27 06:10:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:10:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 06:11:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +Goal: place dark tool next to light blue cat with yellow patterns +[2026-05-27 06:12:06,199] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:12:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:23:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4184 episode 0 object objahandtool_ff7b35a3183f4d9fa85d14dd7309dea5_1_0_6 completed with success=False +[05/27 06:23:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 06:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +Goal: place blue patterned cat next to gold pump bottle +[2026-05-27 06:24:20,676] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:24:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:35:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 4184 episode 1 object objadecorativecat_1beba9b24a9143df8559410f1522aad6_1_0_6 completed with success=False +[05/27 06:35:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4184: 2 episodes +[05/27 06:35:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:35:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4184 +[05/27 06:35:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4184 in 5.58s (batch: 5.40s, save: 0.18s) +[05/27 06:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4184 +[05/27 06:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4184: 0/2 successful episodes +[05/27 06:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4205 (index 43/115) +[05/27 06:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:35:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place blue floral ceramic teacup with handle next to tall white candle +[2026-05-27 06:36:26,949] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:36:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:47:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=False +[05/27 06:47:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4205: 1 episodes +[05/27 06:47:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:47:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:47:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4205 +[05/27 06:47:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4205 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 06:47:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4205 +[05/27 06:47:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4205: 0/1 successful episodes +[05/27 06:47:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4283 (index 44/115) +[05/27 06:47:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:47:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place matte black cylindrical suppressor next to silver bowl +[2026-05-27 06:48:49,946] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:49:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:59:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4283 episode 0 object objasuppressor_bc9f4829adc340aa91290494661592c4_1_0_7 completed with success=False +[05/27 06:59:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4283: 1 episodes +[05/27 06:59:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:59:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:59:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4283 +[05/27 06:59:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4283 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 06:59:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4283 +[05/27 06:59:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4283: 0/1 successful episodes +[05/27 06:59:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4323 (index 45/115) +[05/27 06:59:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:59:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 07:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_2ec1ab458bcd4ea59236bb58bc3707dd_1_0_5 in scene +[05/27 07:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetorch_fc829f78d01c451a8f3c808099691225_1_0_5 in scene +Goal: place sleek black calculator with buttons next to green card with flowers +[2026-05-27 07:01:15,329] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:01:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:19:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4323 episode 0 object objacalculator_cac428295bf64df59ffad15bc3124b0a_1_0_6 completed with success=False +[05/27 07:19:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4323: 1 episodes +[05/27 07:19:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:19:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:19:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4323 +[05/27 07:19:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4323 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 07:19:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4323 +[05/27 07:19:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4323: 0/1 successful episodes +[05/27 07:19:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4398 (index 46/115) +[05/27 07:19:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:19:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 07:19:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +Goal: place brass astrolabe with engravings next to dark stone cylindrical seal with carvings +[2026-05-27 07:20:36,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:21:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:28:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4398 episode 0 object objaastrolabe_530bd21edcdf4c4695cc4c8af856d6bf_1_0_2 completed with success=False +[05/27 07:28:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4398: 1 episodes +[05/27 07:28:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:28:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:28:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4398 +[05/27 07:28:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4398 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 07:28:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4398 +[05/27 07:28:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4398: 0/1 successful episodes +[05/27 07:28:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4492 (index 47/115) +[05/27 07:28:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:28:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place black spiked collar next to spray bottle +[2026-05-27 07:29:24,500] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:34:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4492 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 completed with success=False +[05/27 07:34:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4492: 1 episodes +[05/27 07:34:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:34:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:34:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4492 +[05/27 07:34:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4492 in 2.80s (batch: 2.70s, save: 0.09s) +[05/27 07:34:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4492 +[05/27 07:34:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4492: 0/1 successful episodes +[05/27 07:34:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4610 (index 48/115) +[05/27 07:34:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:34:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place stone hammer next to bulbous shiny gold metallic vase +[2026-05-27 07:35:50,765] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:36:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4610 episode 0 object objastonehammer_ad3d9fa077264d4484c91c6b05888a4e_1_0_2 completed with success=False +[05/27 07:43:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4610: 1 episodes +[05/27 07:43:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:43:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:43:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4610 +[05/27 07:43:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4610 in 2.43s (batch: 2.35s, save: 0.09s) +[05/27 07:43:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4610 +[05/27 07:43:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4610: 0/1 successful episodes +[05/27 07:43:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4677 (index 49/115) +[05/27 07:43:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4677 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:43:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place card with green flowers next to colorful cube with designs +[2026-05-27 07:44:39,962] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:45:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:51:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4677 episode 0 object objadecorativecard_8e87806126c448aab98c71055a501921_1_0_2 completed with success=False +[05/27 07:51:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4677: 1 episodes +[05/27 07:51:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:51:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:51:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4677 +[05/27 07:51:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4677 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 07:51:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4677 +[05/27 07:51:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4677: 0/1 successful episodes +[05/27 07:51:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4712 (index 50/115) +[05/27 07:51:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4712 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:51:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 07:51:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +Goal: place black cylindrical scope with lens next to small green tractor +[2026-05-27 07:52:31,316] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:53:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:04:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4712 episode 0 object objascope_74a317bd8f2c458a9ab89c9a188900e4_1_0_5 completed with success=False +[05/27 08:04:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4712: 1 episodes +[05/27 08:04:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:04:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:04:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4712 +[05/27 08:04:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4712 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 08:04:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4712 +[05/27 08:04:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4712: 0/1 successful episodes +[05/27 08:04:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4793 (index 51/115) +[05/27 08:04:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4793 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:04:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 08:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_6 in scene +[05/27 08:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_6 in scene +Goal: place yellow handheld gps with blue screen next to shallow white square ceramic bowl +[2026-05-27 08:06:08,230] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:06:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:20:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4793 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_4 completed with success=False +[05/27 08:20:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4793: 1 episodes +[05/27 08:20:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:20:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:20:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4793 +[05/27 08:20:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4793 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 08:20:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4793 +[05/27 08:20:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4793: 0/1 successful episodes +[05/27 08:20:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4870 (index 52/115) +[05/27 08:20:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4870 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:20:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place orange futuristic spacecraft with wings next to shallow wide gray ceramic bowl +[2026-05-27 08:21:30,479] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:22:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:33:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4870 episode 0 object objatoyspacecraft_5397fb2487734503a9819b448abf14c9_1_0_8 completed with success=False +[05/27 08:33:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4870: 1 episodes +[05/27 08:33:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:33:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:33:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4870 +[05/27 08:33:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4870 in 2.89s (batch: 2.79s, save: 0.09s) +[05/27 08:33:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4870 +[05/27 08:33:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4870: 0/1 successful episodes +[05/27 08:33:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4957 (index 53/115) +[05/27 08:33:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:33:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 08:34:09 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_3 in scene +[05/27 08:34:09 Worker 0 WARNING object_manager.py:1238] Could not find object vase_61e70bb516f7e79bff61fcd075396cae_1_0_3 in scene +Goal: place textured black yellow screwdriver next to green spherical lettuce +[2026-05-27 08:35:11,998] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:35:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:52:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4957 episode 0 object objascrewdriver_215ef6cbb3de40e2ab420f4332534bd9_1_0_2 completed with success=False +[05/27 08:52:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4957: 1 episodes +[05/27 08:52:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:52:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:52:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4957 +[05/27 08:52:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4957 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 08:52:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4957 +[05/27 08:52:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4957: 0/1 successful episodes +[05/27 08:52:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5050 (index 54/115) +[05/27 08:52:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5050 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:52:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +Goal: place black lightning trophy with base next to potato +[2026-05-27 08:54:06,560] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:09:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5050 episode 0 object objaaward_767baba2ef7145d188ab5437730b76ff_1_0_2 completed with success=False +[05/27 09:09:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5050: 1 episodes +[05/27 09:09:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:09:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:09:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5050 +[05/27 09:09:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5050 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 09:09:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5050 +[05/27 09:09:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5050: 0/1 successful episodes +[05/27 09:09:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5145 (index 55/115) +[05/27 09:09:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5145 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:09:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 09:10:01 Worker 0 WARNING object_manager.py:1238] Could not find object objatoy_3ca98f6caabd4c99960dc076fd759ab1_1_0_6 in scene +[05/27 09:10:01 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_6c30212de15b89322c74efcd143a7fbb_1_0_6 in scene +Goal: place brown wooden handle screwdriver next to sleek dark rectangular phone +[2026-05-27 09:11:04,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:11:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:22:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 5145 episode 0 object objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_7 completed with success=False +[05/27 09:22:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5145: 1 episodes +[05/27 09:22:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:22:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:22:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5145 +[05/27 09:22:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5145 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 09:22:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5145 +[05/27 09:22:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5145: 0/1 successful episodes +[05/27 09:22:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5200 (index 56/115) +[05/27 09:22:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:22:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5 in scene +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place blue star mold next to large red tomato +[2026-05-27 09:24:16,085] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:24:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:35:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5200 episode 0 object objamold_225720a070c046dba53c77e9a0a7716f_1_0_6 completed with success=False +[05/27 09:35:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5200: 1 episodes +[05/27 09:35:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:35:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:35:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5200 +[05/27 09:35:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5200 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 09:35:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5200 +[05/27 09:35:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5200: 0/1 successful episodes +[05/27 09:35:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5342 (index 57/115) +[05/27 09:35:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5342 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:35:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place red pagoda pop-up card next to vintage film projector with leather +[2026-05-27 09:38:56,911] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:39:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:48:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 5342 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7 completed with success=False +[05/27 09:48:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5342: 1 episodes +[05/27 09:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:48:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5342 +[05/27 09:48:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5342 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 09:48:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5342 +[05/27 09:48:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5342: 0/1 successful episodes +[05/27 09:48:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5453 (index 58/115) +[05/27 09:48:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:48:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 09:48:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene +[05/27 09:48:51 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place green cucumber next to blue patterned bowl +[2026-05-27 09:49:54,167] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:50:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:05:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5453 episode 0 object objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_2 completed with success=False +[05/27 10:05:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5453: 1 episodes +[05/27 10:05:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:05:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:05:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5453 +[05/27 10:05:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5453 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 10:05:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5453 +[05/27 10:05:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5453: 0/1 successful episodes +[05/27 10:05:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5543 (index 59/115) +[05/27 10:05:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:05:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place decorative wooden hatchet next to moka pot +[2026-05-27 10:06:24,949] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:07:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:15:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5543 episode 0 object objahatchet_0dfc7c5654e945daac9bd0ab195b24ee_1_0_6 completed with success=False +[05/27 10:15:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5543: 1 episodes +[05/27 10:15:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:15:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:15:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5543 +[05/27 10:15:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5543 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 10:15:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5543 +[05/27 10:15:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5543: 0/1 successful episodes +[05/27 10:15:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5606 (index 60/115) +[05/27 10:15:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5606 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:15:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/27 10:16:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_9 in scene +Goal: place mechanical device next to rectangular dark gray tufted pillow +[2026-05-27 10:17:23,444] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:19:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5606 episode 0 object objabicyclepump_283379c9c7c9422c8a0c5213c827723f_1_0_3 completed with success=False +[05/27 10:19:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5606: 1 episodes +[05/27 10:19:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:19:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:19:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5606 +[05/27 10:19:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5606 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 10:19:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5606 +[05/27 10:19:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5606: 0/1 successful episodes +[05/27 10:19:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5666 (index 61/115) +[05/27 10:19:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5666 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:19:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/27 10:20:39 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_8 in scene +Goal: place orange circular emblem with blue next to stopwatch +[2026-05-27 10:21:43,138] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:42:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5666 episode 0 object objadecorativeemblem_72eedb60542841c0a11d429d19854814_1_0_5 completed with success=False +[05/27 10:42:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5666: 1 episodes +[05/27 10:42:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:42:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:42:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5666 +[05/27 10:42:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5666 in 2.77s (batch: 2.67s, save: 0.09s) +[05/27 10:42:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5666 +[05/27 10:42:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5666: 0/1 successful episodes +[05/27 10:42:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5770 (index 62/115) +[05/27 10:42:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5770 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:42:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place large gray cylindrical metal bolt next to rectangular color calibration chart with colors +[2026-05-27 10:43:27,012] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:43:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:51:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5770 episode 0 object objabolt_2ccd6566b5714c5da3b61d3682ec64ac_1_0_2 completed with success=False +[05/27 10:51:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5770: 1 episodes +[05/27 10:51:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:51:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:51:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5770 +[05/27 10:51:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5770 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 10:51:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5770 +[05/27 10:51:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5770: 0/1 successful episodes +[05/27 10:51:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5896 (index 63/115) +[05/27 10:51:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:51:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 10:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_3 in scene +[05/27 10:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_3 in scene +Goal: place sleek dark rectangular phone next to vintage black ricoh kr-5 camera +[2026-05-27 10:52:18,272] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:52:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:00:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5896 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2 completed with success=False +[05/27 11:00:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5896: 1 episodes +[05/27 11:00:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:00:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:00:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5896 +[05/27 11:00:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5896 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 11:00:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5896 +[05/27 11:00:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5896: 0/1 successful episodes +[05/27 11:00:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5923 (index 64/115) +[05/27 11:00:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:00:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place shiny gold brown fish sculpture next to pizza slice with crust +[2026-05-27 11:01:44,387] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:12:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 5923 episode 0 object objadecorativefishsculpture_cc5426d3090c4047a1e4d5aa38c95d7a_1_0_2 completed with success=False +[05/27 11:12:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5923: 1 episodes +[05/27 11:12:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:12:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:12:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5923 +[05/27 11:12:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5923 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 11:12:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5923 +[05/27 11:12:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5923: 0/1 successful episodes +[05/27 11:12:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6057 (index 65/115) +[05/27 11:12:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:12:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place light brown cylindrical fabric spool next to metal bolt +[2026-05-27 11:13:46,511] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:14:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:25:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 6057 episode 0 object objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_8 completed with success=False +[05/27 11:25:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6057: 1 episodes +[05/27 11:25:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:25:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:25:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6057 +[05/27 11:25:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6057 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 11:25:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6057 +[05/27 11:25:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6057: 0/1 successful episodes +[05/27 11:25:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6120 (index 66/115) +[05/27 11:25:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6120 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:25:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place sharpening steel next to brown tortoise model with shell +[2026-05-27 11:27:02,457] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:27:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:39:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 6120 episode 0 object objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_8 completed with success=False +[05/27 11:39:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6120: 1 episodes +[05/27 11:39:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:39:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:39:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6120 +[05/27 11:39:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6120 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 11:39:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6120 +[05/27 11:39:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6120: 0/1 successful episodes +[05/27 11:39:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6204 (index 67/115) +[05/27 11:39:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6204 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:39:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place rustic brown dish next to bulbous shiny gold metallic vase +[2026-05-27 11:40:40,371] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:02:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 6204 episode 0 object objadish_59f077a37f3e4a369b488209046e5aeb_1_0_2 completed with success=False +[05/27 12:02:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6204: 1 episodes +[05/27 12:02:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:02:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:02:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6204 +[05/27 12:02:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6204 in 2.49s (batch: 2.41s, save: 0.09s) +[05/27 12:02:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6204 +[05/27 12:02:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6204: 0/1 successful episodes +[05/27 12:02:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6213 (index 68/115) +[05/27 12:02:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6213 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 12:02:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 12:02:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_e8bfe8a8bc294c9e9b03b03f1e40ee43_1_0_9 in scene +[05/27 12:02:37 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene +Goal: place insect next to insect +[2026-05-27 12:03:39,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:21:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6213 episode 0 object objainsectsculpture_dd195f6a3aed4a5da766b29e3ad14a2d_2_0_2 completed with success=False +[05/27 12:21:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 12:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_e8bfe8a8bc294c9e9b03b03f1e40ee43_1_0_9 in scene +[05/27 12:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene +Goal: place blue milk carton with red logo next to model starship +[2026-05-27 12:22:20,628] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:22:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:39:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 6213 episode 1 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_3 completed with success=False +[05/27 12:39:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6213: 2 episodes +[05/27 12:39:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:40:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:40:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:40:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:40:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6213 +[05/27 12:40:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6213 in 5.52s (batch: 5.35s, save: 0.17s) +[05/27 12:40:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6213 +[05/27 12:40:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6213: 0/2 successful episodes +[05/27 12:40:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6257 (index 69/115) +[05/27 12:40:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6257 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 12:40:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place wrench next to stylized yellow vintage cartoon van +[2026-05-27 12:41:41,579] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:42:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:52:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 6257 episode 0 object objaadjustablewrench_5bbc755b07924fcba6ccd702191f90df_1_0_6 completed with success=False +[05/27 12:52:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6257: 1 episodes +[05/27 12:52:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:52:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:52:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6257 +[05/27 12:52:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6257 in 2.57s (batch: 2.47s, save: 0.09s) +[05/27 12:52:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6257 +[05/27 12:52:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6257: 0/1 successful episodes +[05/27 12:52:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6302 (index 70/115) +[05/27 12:52:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6302 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 12:52:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place primitive tool next to miniature windmill +[2026-05-27 12:53:34,363] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:54:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:05:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6302 episode 0 object objaprimitivetool_4dfb6ac9b577431783a05825f9ffd8ff_1_0_9 completed with success=False +[05/27 13:05:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6302: 1 episodes +[05/27 13:05:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:05:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:05:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6302 +[05/27 13:05:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6302 in 2.46s (batch: 2.38s, save: 0.09s) +[05/27 13:05:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6302 +[05/27 13:05:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6302: 0/1 successful episodes +[05/27 13:05:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6385 (index 71/115) +[05/27 13:05:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:05:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place solid blue arrow with white outline next to geometric blue butterfly +[2026-05-27 13:07:16,225] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:07:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:09:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 6385 episode 0 object objadecorativearrow_f38febed165240b9aea5289c215c6b65_1_0_7 completed with success=False +[05/27 13:09:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6385: 1 episodes +[05/27 13:09:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:09:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:09:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6385 +[05/27 13:09:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6385 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 13:09:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6385 +[05/27 13:09:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6385: 0/1 successful episodes +[05/27 13:09:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6452 (index 72/115) +[05/27 13:09:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6452 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:09:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 13:09:36 Worker 0 WARNING object_manager.py:1238] Could not find object objasymbol_06feafda2e414e45bb709f7be46a1c00_1_0_8 in scene +[05/27 13:09:36 Worker 0 WARNING object_manager.py:1238] Could not find object vase_6036f2984fad087344d3e0313b088eaf_1_0_8 in scene +Goal: place oval avocado with bumpy green skin next to blue soap bottle with orange pump +[2026-05-27 13:10:42,392] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:11:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:12:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6452 episode 0 object objaavocado_cb72a029445445e4a9fb6cc76715d11d_1_0_8 completed with success=False +[05/27 13:12:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6452: 1 episodes +[05/27 13:12:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:12:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:12:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6452 +[05/27 13:12:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6452 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 13:12:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6452 +[05/27 13:12:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6452: 0/1 successful episodes +[05/27 13:12:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6543 (index 73/115) +[05/27 13:12:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:12:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object objahinge_1ffa7463a95647c5bc8c07359ff161ae_1_0_8 in scene +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object objahinge_4587c40e36704e7a96ffebad95028160_2_0_8 in scene +Goal: place metal chain next to table lamp +[2026-05-27 13:13:54,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:14:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:30:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 6543 episode 0 object objachain_f3ab69afeb0b49518318a2263f17564e_1_0_4 completed with success=False +[05/27 13:30:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6543: 1 episodes +[05/27 13:30:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:30:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:30:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6543 +[05/27 13:30:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6543 in 2.79s (batch: 2.69s, save: 0.09s) +[05/27 13:30:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6543 +[05/27 13:30:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6543: 0/1 successful episodes +[05/27 13:30:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6698 (index 74/115) +[05/27 13:30:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:30:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place red locomotive next to smooth rounded ceramic bowl +[2026-05-27 13:31:25,399] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:31:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:45:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6698 episode 0 object objatrainmodel_3463948e9b03463e8968dbdd11a5d745_1_0_4 completed with success=False +[05/27 13:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6698: 1 episodes +[05/27 13:45:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:45:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6698 +[05/27 13:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6698 in 2.97s (batch: 2.87s, save: 0.10s) +[05/27 13:45:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6698 +[05/27 13:45:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6698: 0/1 successful episodes +[05/27 13:45:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6766 (index 75/115) +[05/27 13:45:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:45:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place glossy chocolate cake bar wrapper next to dark matte cup with grooves +[2026-05-27 13:47:08,325] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:47:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:56:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 6766 episode 0 object objapackagedfood_5ceecc4773b845a5b9addfa0f324f159_1_0_6 completed with success=False +[05/27 13:56:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6766: 1 episodes +[05/27 13:56:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:56:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:56:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6766 +[05/27 13:56:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6766 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 13:56:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6766 +[05/27 13:56:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6766: 0/1 successful episodes +[05/27 13:56:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6884 (index 76/115) +[05/27 13:56:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:56:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place yellow handheld gps next to coffee machine +[2026-05-27 13:57:46,134] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:58:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:07:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 6884 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_2_0_6 completed with success=False +[05/27 14:07:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6884: 1 episodes +[05/27 14:07:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:07:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:07:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6884 +[05/27 14:07:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6884 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 14:07:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6884 +[05/27 14:07:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6884: 0/1 successful episodes +[05/27 14:07:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6941 (index 77/115) +[05/27 14:07:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6941 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:07:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place dark metal axe next to smooth light brown egg +[2026-05-27 14:08:48,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:09:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 6941 episode 0 object objahandaxe_be5b9e7c2bac495fb4494b89c2e3e915_1_0_6 completed with success=False +[05/27 14:18:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6941: 1 episodes +[05/27 14:18:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:18:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:18:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6941 +[05/27 14:18:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6941 in 2.39s (batch: 2.31s, save: 0.09s) +[05/27 14:18:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6941 +[05/27 14:18:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6941: 0/1 successful episodes +[05/27 14:18:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7013 (index 78/115) +[05/27 14:18:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:18:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 14:18:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place vintage beige minerva stopwatch with figure next to light blue labeled cleaning bottle +[2026-05-27 14:19:34,701] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:36:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 7013 episode 0 object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 completed with success=False +[05/27 14:36:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7013: 1 episodes +[05/27 14:36:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:36:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:36:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7013 +[05/27 14:36:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7013 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 14:36:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7013 +[05/27 14:36:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7013: 0/1 successful episodes +[05/27 14:36:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7076 (index 79/115) +[05/27 14:36:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7076 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:36:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place handheldscanner next to rusty spray paint can with blue +[2026-05-27 14:38:01,185] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:49:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 7076 episode 0 object objahandheldscanner_4768cdc427e249a2aea0124a54608f1f_1_0_4 completed with success=False +[05/27 14:49:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7076: 1 episodes +[05/27 14:49:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:49:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:49:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7076 +[05/27 14:49:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7076 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 14:49:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7076 +[05/27 14:49:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7076: 0/1 successful episodes +[05/27 14:49:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7172 (index 80/115) +[05/27 14:49:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7172 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:49:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place beige stone next to plate +[2026-05-27 14:50:42,831] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:51:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:01:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 7172 episode 0 object objastone_913f6a32c94043f9892baabc13025e7a_1_0_7 completed with success=False +[05/27 15:01:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7172: 1 episodes +[05/27 15:01:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7172 +[05/27 15:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7172 in 2.54s (batch: 2.45s, save: 0.09s) +[05/27 15:01:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7172 +[05/27 15:01:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7172: 0/1 successful episodes +[05/27 15:01:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7281 (index 81/115) +[05/27 15:01:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:01:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 15:02:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_94d0e225581b4db48da241b36d1be05b_1_0_5 in scene +Goal: place green snail with large brown shell next to bulbous shiny gold vase +[2026-05-27 15:03:13,022] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:03:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:16:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7281 episode 0 object objasnailsculpture_cc5307e5737f4db4ab09caeaeb07a6e7_1_0_4 completed with success=False +[05/27 15:16:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7281: 1 episodes +[05/27 15:16:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:16:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:16:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7281 +[05/27 15:16:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7281 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 15:16:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7281 +[05/27 15:16:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7281: 0/1 successful episodes +[05/27 15:16:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7343 (index 82/115) +[05/27 15:16:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7343 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:16:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place instrumentation next to classic blue and white camper van +[2026-05-27 15:17:25,635] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:18:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:31:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 7343 episode 0 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_4 completed with success=False +[05/27 15:31:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7343: 1 episodes +[05/27 15:31:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:31:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:31:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7343 +[05/27 15:31:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7343 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 15:31:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7343 +[05/27 15:31:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7343: 0/1 successful episodes +[05/27 15:31:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7377 (index 83/115) +[05/27 15:31:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7377 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:31:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[05/27 15:32:00 Worker 0 WARNING object_manager.py:1238] Could not find object objacrocodileskullreplica_3d87992f50434bfb8d762bd2a3d41994_1_0_2 in scene +[05/27 15:32:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadriftwood_df264661bdfb4e4a914988796df10d2f_1_0_2 in scene +[05/27 15:32:00 Worker 0 WARNING object_manager.py:1238] Could not find object vase_4686c3634f3334d6f28ba73fcd509a72_1_0_2 in scene +Goal: place red bowtie with white polka dots next to glossy brown goblet cup +[2026-05-27 15:33:03,615] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:33:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:42:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 7377 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False +[05/27 15:42:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7377: 1 episodes +[05/27 15:42:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:42:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:42:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7377 +[05/27 15:42:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7377 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 15:42:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7377 +[05/27 15:42:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7377: 0/1 successful episodes +[05/27 15:42:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7449 (index 84/115) +[05/27 15:42:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7449 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:42:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place medium brown rough potato with imperfections next to bulbous shiny gold metallic vase +[2026-05-27 15:43:53,750] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:44:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:51:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 7449 episode 0 object Irishpotato_97ed5203740bb4947ae92dcbf36ae46c_1_0_2 completed with success=False +[05/27 15:51:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7449: 1 episodes +[05/27 15:51:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:51:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:51:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7449 +[05/27 15:51:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7449 in 2.91s (batch: 2.81s, save: 0.10s) +[05/27 15:51:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7449 +[05/27 15:51:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7449: 0/1 successful episodes +[05/27 15:51:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7506 (index 85/115) +[05/27 15:51:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7506 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:51:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place red ninja patch next to black mask +[2026-05-27 15:52:15,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:52:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:02:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 7506 episode 0 object objapatch_0d3e057f882d4d2093e7dbed9fd26a31_1_0_7 completed with success=False +[05/27 16:02:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7506: 1 episodes +[05/27 16:02:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:02:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:02:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7506 +[05/27 16:02:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7506 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 16:02:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7506 +[05/27 16:02:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7506: 0/1 successful episodes +[05/27 16:02:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7641 (index 86/115) +[05/27 16:02:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7641 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:02:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 16:03:16 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_394b22755d3368fb51669bf48bdfea21_1_0_2 in scene +[05/27 16:03:16 Worker 0 WARNING object_manager.py:1238] Could not find object objametalartifact_c98d18777e2640379f8f697975068cdf_1_0_5 in scene +[05/27 16:03:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_f4035bcaf9094e34afb664c872233c1c_1_0_5 in scene +Goal: place cornermolding next to miniature tree with lush green leaves +[2026-05-27 16:04:21,239] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:24:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 7641 episode 0 object objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_4 completed with success=False +[05/27 16:24:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7641: 1 episodes +[05/27 16:24:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:24:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:24:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7641 +[05/27 16:24:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7641 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 16:24:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7641 +[05/27 16:24:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7641: 0/1 successful episodes +[05/27 16:24:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7755 (index 87/115) +[05/27 16:24:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:24:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place hexagonal metallic light projector next to black hardcover book with orange text +[2026-05-27 16:25:50,299] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:26:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:32:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 7755 episode 0 object objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_1_0_3 completed with success=False +[05/27 16:32:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7755: 1 episodes +[05/27 16:32:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:32:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:32:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7755 +[05/27 16:32:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7755 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 16:32:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7755 +[05/27 16:32:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7755: 0/1 successful episodes +[05/27 16:32:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7847 (index 88/115) +[05/27 16:32:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7847 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:32:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place dark metal container with label next to golden yellow apple with stem +[2026-05-27 16:33:56,576] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:34:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:47:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 7847 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_3_0_2 completed with success=False +[05/27 16:47:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7847: 1 episodes +[05/27 16:47:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:47:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:47:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7847 +[05/27 16:47:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7847 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 16:47:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7847 +[05/27 16:47:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7847: 0/1 successful episodes +[05/27 16:47:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7933 (index 89/115) +[05/27 16:47:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:47:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place instrumentation next to black rectangular network switch +[2026-05-27 16:49:01,480] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:49:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:58:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 7933 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_9 completed with success=False +[05/27 16:58:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7933: 1 episodes +[05/27 16:58:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:58:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:58:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7933 +[05/27 16:58:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7933 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 16:58:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7933 +[05/27 16:58:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7933: 0/1 successful episodes +[05/27 16:58:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8019 (index 90/115) +[05/27 16:58:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:58:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place silencer next to metal lamp +[2026-05-27 17:00:02,942] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:00:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:14:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 8019 episode 0 object objasuppressor_4d9a44997f514c8da02d3a6be9b9648b_1_0_6 completed with success=False +[05/27 17:14:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8019: 1 episodes +[05/27 17:14:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:14:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:14:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8019 +[05/27 17:14:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8019 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 17:14:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8019 +[05/27 17:14:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8019: 0/1 successful episodes +[05/27 17:14:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8115 (index 91/115) +[05/27 17:14:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 17:14:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place blue calendar with mountains next to metallic burgundy toaster +[2026-05-27 17:15:54,269] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 8115 episode 0 object objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_1_0_8 completed with success=False +[05/27 17:31:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8115: 1 episodes +[05/27 17:31:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:31:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:31:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8115 +[05/27 17:31:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8115 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 17:31:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8115 +[05/27 17:31:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8115: 0/1 successful episodes +[05/27 17:31:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8221 (index 92/115) +[05/27 17:31:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 17:31:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place primitive stone axe with wooden handle next to shiny gold vase +[2026-05-27 17:32:50,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:33:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:49:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8221 episode 0 object objastoneaxe_c6677888b7944b9295ed73a1061d448f_1_0_9 completed with success=False +[05/27 17:49:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8221: 1 episodes +[05/27 17:49:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:49:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:49:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8221 +[05/27 17:49:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8221 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 17:49:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8221 +[05/27 17:49:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8221: 0/1 successful episodes +[05/27 17:49:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8264 (index 93/115) +[05/27 17:49:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8264 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 17:49:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place light gray origami crane next to light gray origami paper crane +[2026-05-27 17:50:23,993] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:02:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 8264 episode 0 object objaorigamicrane_1b852180c77842c2867a9ff0a4959f2e_1_0_4 completed with success=False +[05/27 18:02:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8264: 1 episodes +[05/27 18:02:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:02:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:02:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8264 +[05/27 18:02:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8264 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 18:02:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8264 +[05/27 18:02:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8264: 0/1 successful episodes +[05/27 18:02:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8278 (index 94/115) +[05/27 18:02:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 8278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:02:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place rectangular metallic keypad with buttons next to gray ankle boot +[2026-05-27 18:03:57,912] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:13:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 8278 episode 0 object objakeypad_7994d3067a554e4dab14e88af242f174_1_0_7 completed with success=False +[05/27 18:13:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place blue gold beaded bottle next to metallic blue toaster +[2026-05-27 18:14:19,307] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:23:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 8278 episode 1 object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 completed with success=False +[05/27 18:23:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8278: 2 episodes +[05/27 18:23:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:23:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:23:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:23:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:23:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8278 +[05/27 18:23:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8278 in 5.63s (batch: 5.45s, save: 0.18s) +[05/27 18:23:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8278 +[05/27 18:23:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8278: 0/2 successful episodes +[05/27 18:23:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8373 (index 95/115) +[05/27 18:23:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8373 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:23:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 18:24:11 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 in scene +[05/27 18:24:11 Worker 0 WARNING object_manager.py:1238] Could not find object objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_7 in scene +[05/27 18:24:11 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_7 in scene +Goal: place turquoise spray bottle next to smooth reflective silver vase +[2026-05-27 18:25:15,859] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:25:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:39:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 8373 episode 0 object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_8 completed with success=False +[05/27 18:39:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8373: 1 episodes +[05/27 18:39:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:40:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8373 +[05/27 18:40:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8373 in 2.50s (batch: 2.40s, save: 0.09s) +[05/27 18:40:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8373 +[05/27 18:40:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8373: 0/1 successful episodes +[05/27 18:40:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8410 (index 96/115) +[05/27 18:40:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8410 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:40:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 18:40:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place old rusted circular metal ring next to colorful blocky toy ship with propeller +[2026-05-27 18:41:16,890] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:41:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:52:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 8410 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7 completed with success=False +[05/27 18:52:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8410: 1 episodes +[05/27 18:52:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:52:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:52:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8410 +[05/27 18:52:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8410 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 18:52:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8410 +[05/27 18:52:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8410: 0/1 successful episodes +[05/27 18:52:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8495 (index 97/115) +[05/27 18:52:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:52:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place curved track next to medium cardboard box with flaps +[2026-05-27 18:53:53,743] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:54:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:00:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8495 episode 0 object objamodeltraintrack_823d9a0dfeea4d348bb75ecbe96b372a_1_0_7 completed with success=False +[05/27 19:00:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8495: 1 episodes +[05/27 19:00:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:00:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:00:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8495 +[05/27 19:00:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8495 in 2.69s (batch: 2.59s, save: 0.09s) +[05/27 19:00:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8495 +[05/27 19:00:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8495: 0/1 successful episodes +[05/27 19:00:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8625 (index 98/115) +[05/27 19:00:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:00:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place root vegetable next to medium round red tomato with stem +[2026-05-27 19:01:27,286] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:01:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:06:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 8625 episode 0 object Irishpotato_98dee472f1cf0a95c9fbc734935c5ea3_1_0_2 completed with success=False +[05/27 19:06:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8625: 1 episodes +[05/27 19:06:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:06:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:06:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8625 +[05/27 19:06:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8625 in 2.56s (batch: 2.47s, save: 0.09s) +[05/27 19:06:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8625 +[05/27 19:06:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8625: 0/1 successful episodes +[05/27 19:06:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8697 (index 99/115) +[05/27 19:06:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8697 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:06:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place miniature traffic light with striped pole next to gray spray bottle +[2026-05-27 19:07:59,958] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:08:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:18:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 8697 episode 0 object objaminiaturetrafficlight_51e10b3176ed4554bcc5ce306f8de3ee_1_0_6 completed with success=False +[05/27 19:18:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8697: 1 episodes +[05/27 19:18:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:18:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:18:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8697 +[05/27 19:18:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8697 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 19:18:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8697 +[05/27 19:18:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8697: 0/1 successful episodes +[05/27 19:18:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8794 (index 100/115) +[05/27 19:18:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8794 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:18:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place paintbrush with wooden handle next to semi-translucent flat white vase +[2026-05-27 19:20:00,734] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:29:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 8794 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_2 completed with success=False +[05/27 19:30:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8794: 1 episodes +[05/27 19:30:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:30:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:30:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8794 +[05/27 19:30:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8794 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 19:30:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8794 +[05/27 19:30:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8794: 0/1 successful episodes +[05/27 19:30:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8872 (index 101/115) +[05/27 19:30:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8872 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:30:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place tall teal product box next to yellow lyre +[2026-05-27 19:31:17,575] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:31:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:41:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 8872 episode 0 object objaproductpackaging_54e8b05815804d33b3322a500b97b1e4_1_0_7 completed with success=False +[05/27 19:41:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8872: 1 episodes +[05/27 19:41:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:41:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:41:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8872 +[05/27 19:41:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8872 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 19:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8872 +[05/27 19:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8872: 0/1 successful episodes +[05/27 19:41:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8933 (index 102/115) +[05/27 19:41:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:41:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 19:42:17 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_6 in scene +Goal: place small black trafficlight next to medium brown cardboard storage box +[2026-05-27 19:43:22,157] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:43:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:00:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8933 episode 0 object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4 completed with success=False +[05/27 20:00:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8933: 1 episodes +[05/27 20:00:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:00:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:00:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8933 +[05/27 20:00:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8933 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 20:00:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8933 +[05/27 20:00:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8933: 0/1 successful episodes +[05/27 20:00:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9017 (index 103/115) +[05/27 20:00:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9017 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:00:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 20:00:33 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemarker_162fba8901ea4ce5894d8b0916d802b4_1_0_5 in scene +[05/27 20:00:33 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemarker_162fba8901ea4ce5894d8b0916d802b4_2_0_5 in scene +[05/27 20:00:33 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeartifact_b1b4c89f78cf4dbda524100885eab273_1_0_5 in scene +Goal: place metal lid next to rugged brown and reddish textured rock +[2026-05-27 20:01:37,288] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:02:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:13:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 9017 episode 0 object objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8 completed with success=False +[05/27 20:13:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9017: 1 episodes +[05/27 20:13:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:13:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:13:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9017 +[05/27 20:13:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9017 in 2.77s (batch: 2.68s, save: 0.10s) +[05/27 20:13:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9017 +[05/27 20:13:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9017: 0/1 successful episodes +[05/27 20:13:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9073 (index 104/115) +[05/27 20:13:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9073 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:13:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place chirography next to white spherical model with label +[2026-05-27 20:14:49,194] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:26:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9073 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_7 completed with success=False +[05/27 20:26:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9073: 1 episodes +[05/27 20:26:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:26:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:26:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9073 +[05/27 20:26:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9073 in 2.44s (batch: 2.34s, save: 0.09s) +[05/27 20:26:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9073 +[05/27 20:26:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9073: 0/1 successful episodes +[05/27 20:26:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9142 (index 105/115) +[05/27 20:26:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:26:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place black rails with sleepers next to sleek slim dark phone with camera +[2026-05-27 20:27:50,426] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:28:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:42:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 9142 episode 0 object objamodeltraintrack_7d23228e7f8a4ae590324697eb36392b_1_0_9 completed with success=False +[05/27 20:42:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9142: 1 episodes +[05/27 20:42:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:42:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:42:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9142 +[05/27 20:42:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9142 in 2.55s (batch: 2.45s, save: 0.10s) +[05/27 20:42:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9142 +[05/27 20:42:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9142: 0/1 successful episodes +[05/27 20:42:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9221 (index 106/115) +[05/27 20:42:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:42:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 20:43:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_5 in scene +Goal: place purple striped paper roll next to round olive ceramic plate with scallops +[2026-05-27 20:44:47,178] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:01:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 9221 episode 0 object objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_3 completed with success=False +[05/27 21:01:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9221: 1 episodes +[05/27 21:01:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:01:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:01:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9221 +[05/27 21:01:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9221 in 2.91s (batch: 2.81s, save: 0.09s) +[05/27 21:01:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9221 +[05/27 21:01:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9221: 0/1 successful episodes +[05/27 21:01:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9297 (index 107/115) +[05/27 21:01:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9297 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:01:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place sleek black digital camera with lens next to tall dark cylindrical column +[2026-05-27 21:03:18,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:03:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:10:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 9297 episode 0 object objadigitalcamera_904be230d5ac43a6a9604abc946febc7_1_0_2 completed with success=False +[05/27 21:10:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9297: 1 episodes +[05/27 21:10:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:10:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:10:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9297 +[05/27 21:10:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9297 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 21:10:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9297 +[05/27 21:10:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9297: 0/1 successful episodes +[05/27 21:10:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9414 (index 108/115) +[05/27 21:10:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9414 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:10:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place primitive stone axe with wooden handle next to lighthouse +[2026-05-27 21:11:54,738] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:12:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:29:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 9414 episode 0 object objastoneaxe_bdf39735db194dcbb8ed79d340be699c_1_0_7 completed with success=False +[05/27 21:29:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9414: 1 episodes +[05/27 21:29:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:29:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:29:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9414 +[05/27 21:29:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9414 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 21:29:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9414 +[05/27 21:29:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9414: 0/1 successful episodes +[05/27 21:29:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9492 (index 109/115) +[05/27 21:29:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:29:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place anchor ring next to means +[2026-05-27 21:31:02,770] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:31:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:50:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 9492 episode 0 object objaring_ec7ca19df70b4b9e9d56f2a2c91dc401_1_0_2 completed with success=False +[05/27 21:50:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9492: 1 episodes +[05/27 21:50:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:50:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:50:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9492 +[05/27 21:50:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9492 in 2.90s (batch: 2.80s, save: 0.10s) +[05/27 21:50:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9492 +[05/27 21:50:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9492: 0/1 successful episodes +[05/27 21:50:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9538 (index 110/115) +[05/27 21:50:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9538 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:50:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 21:50:47 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodenplaque_1a3b2169bb114128b8ec6c2c53f9dc37_1_0_6 in scene +Goal: place yellow bubble tea cup with straw next to cup +[2026-05-27 21:51:53,168] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:52:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:09:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 9538 episode 0 object objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_1_0_2 completed with success=False +[05/27 22:09:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9538: 1 episodes +[05/27 22:09:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:09:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:09:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9538 +[05/27 22:09:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9538 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 22:09:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9538 +[05/27 22:09:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9538: 0/1 successful episodes +[05/27 22:09:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9609 (index 111/115) +[05/27 22:09:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9609 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:09:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 22:09:22 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_e58a7a0c37cb0ef9c8155d56cc319ccf_1_0_6 in scene +Goal: place smooth white curved bone next to cupcake with cherry and wafer +[2026-05-27 22:10:26,329] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:10:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:20:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 9609 episode 0 object objareplica_c3fe6dddc4ab4d5d89923c6619805710_1_0_6 completed with success=False +[05/27 22:20:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9609: 1 episodes +[05/27 22:20:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:20:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:20:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9609 +[05/27 22:20:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9609 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 22:20:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9609 +[05/27 22:20:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9609: 0/1 successful episodes +[05/27 22:20:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9687 (index 112/115) +[05/27 22:20:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9687 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:20:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place polished metal door lock next to purple square pillow +[2026-05-27 22:22:03,732] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:39:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 9687 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_8 completed with success=False +[05/27 22:39:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9687: 1 episodes +[05/27 22:39:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:39:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:39:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9687 +[05/27 22:39:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9687 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 22:39:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9687 +[05/27 22:39:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9687: 0/1 successful episodes +[05/27 22:39:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9768 (index 113/115) +[05/27 22:39:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9768 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:39:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place green pliers next to white jawbone +[2026-05-27 22:41:20,216] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:41:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:53:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 9768 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2 completed with success=False +[05/27 22:53:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9768: 1 episodes +[05/27 22:53:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:53:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:53:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9768 +[05/27 22:53:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9768 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 22:53:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9768 +[05/27 22:53:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9768: 0/1 successful episodes +[05/27 22:53:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9939 (index 114/115) +[05/27 22:53:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:53:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place photoalbum next to miniature pink torii gate +[2026-05-27 22:55:35,432] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:56:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 23:12:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 9939 episode 0 object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2 completed with success=False +[05/27 23:12:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9939: 1 episodes +[05/27 23:12:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 23:12:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 23:12:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9939 +[05/27 23:12:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9939 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 23:12:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9939 +[05/27 23:12:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9939: 0/1 successful episodes +[05/27 23:12:36 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 23:12:36 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 23:12:36 INFO pipeline.py:1499] Success count: 1, Total count: 119 +[05/27 23:12:36 INFO pipeline.py:1500] Success rate: 0.84% +Combined 119 episodes from 115 files → /tmp/tmp3po3cno3.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv at-end: 0.84% | oracle: 0.84% of 119 episodes +[2026-05-27 23:12:49,606] INFO MolmoSpaces simulator eval finished: success=1/119 rate=0.0084 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval +[2026-05-27 23:12:49,606] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2612fea07f908d6978acc9e3f1a7f03e3f5422 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..2a59155261a0cd7066486d3a4093ea8c14bdb2d2 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv @@ -0,0 +1,117 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.371359,0.0 +latest,Candle,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,108.982493,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.030441,0.0 +latest,Irishpotato,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,118.135082,84.952749 +latest,Objaabstractfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.925881,0.0 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.095122,0.0 +latest,Objaartificialflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.609133,0.0 +latest,Objaastrolabe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.550102,0.0 +latest,Objaavocado,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.903619,0.0 +latest,Objaaward,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.70768,0.0 +latest,Objabacteriummodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.184846,0.0 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b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/run.log @@ -0,0 +1,3746 @@ +[2026-05-26 19:43:51,346] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,348] INFO Using MuJoCo EGL device id: 5 +[2026-05-26 19:43:51,348] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,378] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 (source=arg) +[2026-05-26 19:43:53,339] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:04,498] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,280] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,281] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,726] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,776] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,323] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [571, + 614, + 679, + 725, + 778, + 861, + 927, + 1023, + 1153, + 1223, + 1314, + 1382, + 1444, + 1602, + 1700, + 1771, + 1886, + 1963, + 1972, + 2037, + 2151, + 2256, + 2363, + 2467, + 2523, + 2676, + 2791, + 2861, + 2963, + 3056, + 3199, + 3262, + 3286, + 3381, + 3441, + 3527, + 3631, + 3723, + 3776, + 3912, + 4034, + 4136, + 4184, + 4205, + 4283, + 4323, + 4398, + 4492, + 4610, + 4677, + 4712, + 4793, + 4870, + 4957, + 5050, + 5145, + 5200, + 5342, + 5453, + 5543, + 5606, + 5666, + 5770, + 5896, + 5923, + 6057, + 6120, + 6204, + 6213, + 6257, + 6302, + 6385, + 6452, + 6543, + 6698, + 6766, + 6884, + 6941, + 7013, + 7076, + 7172, + 7281, + 7343, + 7377, + 7449, + 7506, + 7641, + 7755, + 7847, + 7933, + 8019, + 8115, + 8221, + 8264, + 8278, + 8373, + 8410, + 8495, + 8625, + 8697, + 8794, + 8872, + 8933, + 9017, + 9073, + 9142, + 9221, + 9297, + 9414, + 9492, + 9538, + 9609, + 9687, + 9768, + 9939], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,330] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 571 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/26 19:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 19:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_5 in scene +Goal: place gray cylindrical bacterium with flagella next to smooth white decorative molding +2026-05-26 19:48:35.069 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:36,027] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:37,102] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:37,645] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:37,844] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:37,847] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 19:59:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 571 episode 0 object objabacteriummodel_f44d9a3b51e14bf38fe32292b0ac8bba_1_0_8 completed with success=False +[05/26 19:59:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_571: 1 episodes +[05/26 19:59:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:59:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:59:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_571 +[05/26 19:59:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_571 in 2.51s (batch: 2.43s, save: 0.09s) +[05/26 19:59:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_571 +[05/26 19:59:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 571: 0/1 successful episodes +[05/26 19:59:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 614 (index 1/115) +[05/26 19:59:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 614 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 19:59:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/26 19:59:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_3 in scene +Goal: place bronze full-figured statue next to vintage green aircraft +[2026-05-26 20:00:51,121] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:01:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:08:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 614 episode 0 object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_3 completed with success=False +[05/26 20:08:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_614: 1 episodes +[05/26 20:08:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:08:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:08:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_614 +[05/26 20:08:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_614 in 2.42s (batch: 2.33s, save: 0.09s) +[05/26 20:08:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_614 +[05/26 20:08:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 614: 0/1 successful episodes +[05/26 20:08:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 679 (index 2/115) +[05/26 20:08:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 679 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 20:08:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object apple_1184bcea45a878476443040fbba5b76d_1_0_2 in scene +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5 in scene +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_7 in scene +Goal: place pale yellow disk with indentations next to soapdispenser +[2026-05-26 20:10:27,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:11:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:28:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 679 episode 0 object objadisk_97aa2085a8c143c0aacdce273d66d03d_2_0_2 completed with success=False +[05/26 20:28:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_679: 1 episodes +[05/26 20:28:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:28:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:28:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_679 +[05/26 20:28:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_679 in 2.78s (batch: 2.69s, save: 0.09s) +[05/26 20:28:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_679 +[05/26 20:28:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 679: 0/1 successful episodes +[05/26 20:28:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 725 (index 3/115) +[05/26 20:28:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 20:28:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place miniature stone tower next to n95 mask with blue valve +[2026-05-26 20:30:13,727] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:30:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:42:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 725 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_2_0_5 completed with success=False +[05/26 20:42:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_725: 1 episodes +[05/26 20:42:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:42:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:42:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_725 +[05/26 20:42:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_725 in 2.45s (batch: 2.36s, save: 0.09s) +[05/26 20:42:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_725 +[05/26 20:42:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 725: 0/1 successful episodes +[05/26 20:42:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 778 (index 4/115) +[05/26 20:42:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 778 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 20:42:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 20:43:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene +[05/26 20:43:19 Worker 0 WARNING object_manager.py:1238] Could not find object objasyringe_b76be5e0927040008050d7eae6dd2836_1_0_9 in scene +Goal: place orange ribbon star medal next to small gold dog statue +[2026-05-26 20:44:22,080] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:04:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 778 episode 0 object objamedal_33981284489f4a7b930e6cc917400042_1_0_6 completed with success=False +[05/26 21:04:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_778: 1 episodes +[05/26 21:04:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:04:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:04:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_778 +[05/26 21:04:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_778 in 2.78s (batch: 2.69s, save: 0.09s) +[05/26 21:04:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_778 +[05/26 21:04:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 778: 0/1 successful episodes +[05/26 21:04:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 861 (index 5/115) +[05/26 21:04:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 861 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:04:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaalienheadsculpture_72c057433cf8401d823713884723692c_1_0_4 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objadigitalart_15d28a35f51d40b5b8483db4e53af2b7_1_0_8 in scene +Goal: place brown carved stone seal with lion next to rugged handheld radio +[2026-05-26 21:06:11,395] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:06:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:18:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 861 episode 0 object objaseal_8197dcc6f59241cea24f1ac503c6e085_1_0_9 completed with success=False +[05/26 21:18:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_861: 1 episodes +[05/26 21:18:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:18:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:18:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_861 +[05/26 21:18:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_861 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 21:18:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_861 +[05/26 21:18:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 861: 0/1 successful episodes +[05/26 21:18:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 927 (index 6/115) +[05/26 21:18:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 927 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:18:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place ergonomic black wireless mouse next to green mechanical fish +[2026-05-26 21:19:58,875] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:37:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 927 episode 0 object objacomputermouse_9ef32c2cbe46448db358b472f806c298_1_0_2 completed with success=False +[05/26 21:37:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_927: 1 episodes +[05/26 21:37:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:37:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:37:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_927 +[05/26 21:37:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_927 in 2.82s (batch: 2.72s, save: 0.09s) +[05/26 21:37:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_927 +[05/26 21:37:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 927: 0/1 successful episodes +[05/26 21:37:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1023 (index 7/115) +[05/26 21:37:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1023 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:37:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/26 21:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_5 in scene +[05/26 21:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_30f356d441a74ef5a5311cfce28ccbf8_1_0_5 in scene +[05/26 21:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene +Goal: place white bowling pin with red stripes next to black calculator with buttons +[2026-05-26 21:38:57,291] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:39:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:56:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 1023 episode 0 object objabowlingpin_b64b0c12be0a4242bf20167812a8df9e_1_0_4 completed with success=False +[05/26 21:56:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1023: 1 episodes +[05/26 21:56:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:56:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:56:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1023 +[05/26 21:56:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1023 in 2.47s (batch: 2.38s, save: 0.09s) +[05/26 21:56:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1023 +[05/26 21:56:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1023: 0/1 successful episodes +[05/26 21:56:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1153 (index 8/115) +[05/26 21:56:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:56:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 21:56:36 Worker 0 WARNING object_manager.py:1238] Could not find object objacan_615d050718e849d2812ecfab3815bb6f_1_0_2 in scene +[05/26 21:56:36 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_39a09e2414136c22c19ce43e027d1f9a_1_0_2 in scene +Goal: place tall white candle on golden holder next to brown bowl +[2026-05-26 21:57:33,849] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:05:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 1153 episode 0 object candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_4 completed with success=True +[05/26 22:06:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1153: 1 episodes +[05/26 22:06:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 287 timesteps +[05/26 22:06:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:06:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1153 +[05/26 22:06:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1153 in 2.76s (batch: 2.69s, save: 0.07s) +[05/26 22:06:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1153 +[05/26 22:06:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1153: 1/1 successful episodes +[05/26 22:06:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1223 (index 9/115) +[05/26 22:06:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1223 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:06:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 22:07:02 Worker 0 WARNING object_manager.py:1238] Could not find object objabridgemodel_8dc8d8f731e346d8bef78d655e5fc3ce_1_0_4 in scene +[05/26 22:07:02 Worker 0 WARNING object_manager.py:1238] Could not find object objabridgemodel_8dc8d8f731e346d8bef78d655e5fc3ce_2_0_4 in scene +Goal: place wooden chisel next to dark green graphics card with fans +[2026-05-26 22:08:04,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:08:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:21:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 1223 episode 0 object objachisel_c6bbc73907ae42b98384b213f166abcc_1_0_4 completed with success=False +[05/26 22:21:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1223: 1 episodes +[05/26 22:21:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:21:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:21:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1223 +[05/26 22:21:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1223 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 22:21:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1223 +[05/26 22:21:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1223: 0/1 successful episodes +[05/26 22:21:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1314 (index 10/115) +[05/26 22:21:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:21:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/26 22:21:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene +Goal: place orange cylindrical medicine bottle with label next to octagonal translucent soap bottle +[2026-05-26 22:22:55,199] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:23:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:40:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 1314 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2 completed with success=False +[05/26 22:40:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1314: 1 episodes +[05/26 22:40:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:40:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:40:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1314 +[05/26 22:40:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1314 in 2.64s (batch: 2.55s, save: 0.09s) +[05/26 22:40:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1314 +[05/26 22:40:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1314: 0/1 successful episodes +[05/26 22:40:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1382 (index 11/115) +[05/26 22:40:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:40:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 22:40:26 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_5 in scene +[05/26 22:40:26 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene +Goal: place blue dna helix next to alarmclock +[2026-05-26 22:41:29,073] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:42:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:57:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1382 episode 0 object objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_6 completed with success=False +[05/26 22:57:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1382: 1 episodes +[05/26 22:57:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:57:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:57:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1382 +[05/26 22:57:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1382 in 2.41s (batch: 2.33s, save: 0.09s) +[05/26 22:57:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1382 +[05/26 22:57:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1382: 0/1 successful episodes +[05/26 22:57:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1444 (index 12/115) +[05/26 22:57:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:57:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 22:58:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene +[05/26 22:58:22 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene +Goal: place multicolored molecular model with spheres next to dark glossy hardcover book with gold +[2026-05-26 22:59:22,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:59:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:12:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 1444 episode 0 object objatoy_bc73d10e6aca4b13ae05b5e4017ed484_1_0_8 completed with success=False +[05/26 23:12:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1444: 1 episodes +[05/26 23:12:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:12:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:12:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1444 +[05/26 23:12:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1444 in 2.41s (batch: 2.33s, save: 0.09s) +[05/26 23:12:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1444 +[05/26 23:12:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1444: 0/1 successful episodes +[05/26 23:12:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1602 (index 13/115) +[05/26 23:12:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1602 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:12:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place white lint roller with handle next to blue dna helix model with rungs +[2026-05-26 23:14:17,785] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:14:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:29:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1602 episode 0 object objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_6 completed with success=False +[05/26 23:29:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1602: 1 episodes +[05/26 23:29:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:29:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1602 +[05/26 23:29:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1602 in 2.40s (batch: 2.32s, save: 0.09s) +[05/26 23:29:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1602 +[05/26 23:29:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1602: 0/1 successful episodes +[05/26 23:29:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1700 (index 14/115) +[05/26 23:29:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1700 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:29:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 23:30:21 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_d55375337d624047a92b414be8daed92_1_0_4 in scene +[05/26 23:30:21 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene +Goal: place vibrant purple artificial flower with stem next to open brown cardboard storage box +[2026-05-26 23:31:23,454] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:31:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 1700 episode 0 object objaartificialflower_6f3a95b0c03144d4831483daed751ca8_1_0_9 completed with success=False +[05/26 23:46:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1700: 1 episodes +[05/26 23:46:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:46:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:46:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1700 +[05/26 23:46:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1700 in 2.81s (batch: 2.71s, save: 0.09s) +[05/26 23:46:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1700 +[05/26 23:46:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1700: 0/1 successful episodes +[05/26 23:46:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1771 (index 15/115) +[05/26 23:46:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1771 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:46:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place intricate vintage parchment ribbon next to dark matte cup with grooves +[2026-05-26 23:47:27,446] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:48:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:58:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 1771 episode 0 object objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_6 completed with success=False +[05/26 23:58:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1771: 1 episodes +[05/26 23:58:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:58:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:58:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1771 +[05/26 23:58:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1771 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 23:58:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1771 +[05/26 23:58:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1771: 0/1 successful episodes +[05/26 23:58:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1886 (index 16/115) +[05/26 23:58:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:58:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 00:02:44 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_6452090508df9a6b064d30e3553d5969_1_0_6 in scene +[05/27 00:02:44 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_c3140ad00db4cb9c43915d10d03cd1b9_1_0_6 in scene +Goal: place blue ceramic bowl next to soap bottle +[2026-05-27 00:03:46,784] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:19:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 1886 episode 0 object bowl_344f5d88e6486f071740266b3cc43858_1_0_8 completed with success=False +[05/27 00:20:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1886: 1 episodes +[05/27 00:20:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:20:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:20:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1886 +[05/27 00:20:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1886 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 00:20:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1886 +[05/27 00:20:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1886: 0/1 successful episodes +[05/27 00:20:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1963 (index 17/115) +[05/27 00:20:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 00:20:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place black logo featuring yellow car silhouette next to butterfly knife with colorful gradient blade +[2026-05-27 00:24:01,283] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:24:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:32:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 1963 episode 0 object objalogo_df86b5ef4e054efca6be94242016e748_1_0_7 completed with success=False +[05/27 00:32:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place compact olive green emergency radio next to butterfly knife with colorful gradient blade +[2026-05-27 00:33:40,627] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:34:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:42:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 1963 episode 1 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_7 completed with success=False +[05/27 00:42:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1963: 2 episodes +[05/27 00:42:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:42:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:42:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:42:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:42:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1963 +[05/27 00:42:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1963 in 4.86s (batch: 4.69s, save: 0.17s) +[05/27 00:42:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1963 +[05/27 00:42:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1963: 0/2 successful episodes +[05/27 00:42:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1972 (index 18/115) +[05/27 00:42:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 00:42:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place realistic human hand next to glossy ripe red tomato with stem +[2026-05-27 00:43:27,188] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:44:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:53:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 1972 episode 0 object objahandmodel_3a3eb7eda5294f4893fb8236199aea06_1_0_6 completed with success=False +[05/27 00:53:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1972: 1 episodes +[05/27 00:53:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:53:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:53:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1972 +[05/27 00:53:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1972 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 00:53:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1972 +[05/27 00:53:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1972: 0/1 successful episodes +[05/27 00:53:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2037 (index 19/115) +[05/27 00:53:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2037 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 00:53:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 00:55:50 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene +[05/27 00:55:50 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_2_0_5 in scene +Goal: place blue disc with thumbs-up next to dark square switch plate with screws +[2026-05-27 00:56:53,829] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:57:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:12:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 2037 episode 0 object objadecorativesymbol_9a0a54db263b4f1a8cdeed4187e70869_1_0_5 completed with success=False +[05/27 01:12:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2037: 1 episodes +[05/27 01:12:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:12:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:12:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2037 +[05/27 01:12:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2037 in 2.51s (batch: 2.43s, save: 0.09s) +[05/27 01:12:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2037 +[05/27 01:12:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2037: 0/1 successful episodes +[05/27 01:12:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2151 (index 20/115) +[05/27 01:12:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2151 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:12:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 01:13:01 Worker 0 WARNING object_manager.py:1238] Could not find object objabranch_c8fd0c9188a4425da438b523e548260a_1_0_6 in scene +[05/27 01:13:01 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestone_a19f0e4b24284b9294c0b64bb1a3f35a_1_0_6 in scene +Goal: place handmade mallet with stones next to cleaning product +[2026-05-27 01:14:05,096] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:14:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 2151 episode 0 object objadecorativemallet_c9c8c6e330c94b55a830e67d1529cb1f_1_0_4 completed with success=False +[05/27 01:28:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2151: 1 episodes +[05/27 01:28:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:28:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:28:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2151 +[05/27 01:28:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2151 in 2.93s (batch: 2.83s, save: 0.10s) +[05/27 01:28:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2151 +[05/27 01:28:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2151: 0/1 successful episodes +[05/27 01:28:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2256 (index 21/115) +[05/27 01:28:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2256 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:28:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place rectangular wooden luggage tag with engraving next to vintage instant camera with rainbow stripe +[2026-05-27 01:30:45,756] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:31:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:43:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2256 episode 0 object objaluggagetag_8564a22483104f8aac76a02c12db952a_2_0_6 completed with success=False +[05/27 01:43:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2256: 1 episodes +[05/27 01:43:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:43:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:43:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2256 +[05/27 01:43:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2256 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 01:43:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2256 +[05/27 01:43:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2256: 0/1 successful episodes +[05/27 01:43:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2363 (index 22/115) +[05/27 01:43:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2363 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:43:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 01:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/27 01:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_6275746374cf4768bbe8d2dcfeefb596_1_0_5 in scene +Goal: place vintage metal kerosene lantern next to irregular patch of ground +[2026-05-27 01:44:22,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 2363 episode 0 object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9 completed with success=False +[05/27 01:57:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2363: 1 episodes +[05/27 01:57:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:57:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:57:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2363 +[05/27 01:57:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2363 in 2.42s (batch: 2.34s, save: 0.09s) +[05/27 01:57:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2363 +[05/27 01:57:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2363: 0/1 successful episodes +[05/27 01:57:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2467 (index 23/115) +[05/27 01:57:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2467 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:57:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 01:57:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 01:57:32 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene +[05/27 01:57:32 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place hexagonal dark stone platform next to stylized orange butterfly with brown body +[2026-05-27 01:58:34,518] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:16:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2467 episode 0 object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_9 completed with success=False +[05/27 02:16:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2467: 1 episodes +[05/27 02:16:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:16:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:16:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2467 +[05/27 02:16:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2467 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 02:16:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2467 +[05/27 02:16:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2467: 0/1 successful episodes +[05/27 02:16:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2523 (index 24/115) +[05/27 02:16:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:16:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 02:16:39 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_3 in scene +[05/27 02:16:39 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_3 in scene +Goal: place sharp butterfly knife with wood next to glossy yellow ceramic vase +[2026-05-27 02:17:42,196] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:18:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:31:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 2523 episode 0 object objabutterflyknife_8e74e69fda494c5e8d4ae75afa1e7df7_1_0_2 completed with success=False +[05/27 02:31:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2523: 1 episodes +[05/27 02:31:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:31:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:31:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2523 +[05/27 02:31:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2523 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 02:31:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2523 +[05/27 02:31:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2523: 0/1 successful episodes +[05/27 02:31:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2676 (index 25/115) +[05/27 02:31:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:31:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 02:31:40 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/27 02:31:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene +Goal: place compact wooden radio with display next to light brown ceramic bowl +[2026-05-27 02:32:44,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:33:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:43:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 2676 episode 0 object objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_6 completed with success=False +[05/27 02:43:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2676: 1 episodes +[05/27 02:43:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:43:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:43:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2676 +[05/27 02:43:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2676 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 02:43:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2676 +[05/27 02:43:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2676: 0/1 successful episodes +[05/27 02:43:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2791 (index 26/115) +[05/27 02:43:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2791 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:43:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place purple pekito chocolate snack package next to breadstuff +[2026-05-27 02:44:43,999] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:59:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 2791 episode 0 object objasnackpackage_569da04563544734bd90630d57fc7be2_1_0_8 completed with success=False +[05/27 02:59:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2791: 1 episodes +[05/27 02:59:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:59:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:59:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2791 +[05/27 02:59:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2791 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 02:59:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2791 +[05/27 02:59:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2791: 0/1 successful episodes +[05/27 02:59:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2861 (index 27/115) +[05/27 02:59:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2861 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:59:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 02:59:16 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 in scene +[05/27 02:59:16 Worker 0 WARNING object_manager.py:1238] Could not find object objarocketmodel_0426922358b4444f9887bcd551d3a5cb_1_0_7 in scene +[05/27 02:59:16 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_7 in scene +Goal: place badge next to foodstuff +[2026-05-27 03:00:22,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:00:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:09:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 2861 episode 0 object objabadge_7a552ea892ef4891890ee98ad3c99cdd_1_0_6 completed with success=False +[05/27 03:09:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2861: 1 episodes +[05/27 03:09:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:09:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:09:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2861 +[05/27 03:09:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2861 in 2.81s (batch: 2.71s, save: 0.09s) +[05/27 03:09:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2861 +[05/27 03:09:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2861: 0/1 successful episodes +[05/27 03:09:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2963 (index 28/115) +[05/27 03:09:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:09:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place light green plastic garden hose nozzle next to fresh green leafy lettuce +[2026-05-27 03:10:56,769] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:11:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:19:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 2963 episode 0 object objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_2 completed with success=False +[05/27 03:19:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2963: 1 episodes +[05/27 03:19:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:19:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:19:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2963 +[05/27 03:19:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2963 in 2.79s (batch: 2.69s, save: 0.09s) +[05/27 03:19:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2963 +[05/27 03:19:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2963: 0/1 successful episodes +[05/27 03:19:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3056 (index 29/115) +[05/27 03:19:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3056 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:19:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place white aerodynamic shell next to slim rectangular metallic phone +[2026-05-27 03:20:50,523] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:32:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3056 episode 0 object objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_9 completed with success=False +[05/27 03:32:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3056: 1 episodes +[05/27 03:32:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:32:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:32:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3056 +[05/27 03:32:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3056 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 03:32:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3056 +[05/27 03:32:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3056: 0/1 successful episodes +[05/27 03:32:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3199 (index 30/115) +[05/27 03:32:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3199 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:32:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place transparent flask with vibrant purple liquid next to breadstuff +[2026-05-27 03:33:28,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:34:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:44:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 3199 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_6 completed with success=False +[05/27 03:44:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3199: 1 episodes +[05/27 03:44:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:45:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:45:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3199 +[05/27 03:45:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3199 in 2.95s (batch: 2.86s, save: 0.10s) +[05/27 03:45:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3199 +[05/27 03:45:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3199: 0/1 successful episodes +[05/27 03:45:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3262 (index 31/115) +[05/27 03:45:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3262 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:45:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place folded newspaper paper boat next to soapdispenser +[2026-05-27 03:46:09,195] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:46:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:51:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3262 episode 0 object objapaperboat_e7ea8f4837354f6da7e4c4c9ee986ff1_1_0_2 completed with success=False +[05/27 03:51:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3262: 1 episodes +[05/27 03:51:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:51:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:51:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3262 +[05/27 03:51:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3262 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 03:51:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3262 +[05/27 03:51:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3262: 0/1 successful episodes +[05/27 03:51:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3286 (index 32/115) +[05/27 03:51:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:51:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place smooth wooden rod next to round brown bread loaf +[2026-05-27 03:52:56,564] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:53:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:01:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3286 episode 0 object objawoodenrod_bdf07f6c648b4d74af80ea7103ac384c_1_0_6 completed with success=False +[05/27 04:01:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3286: 1 episodes +[05/27 04:01:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:01:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:01:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3286 +[05/27 04:01:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3286 in 2.92s (batch: 2.82s, save: 0.10s) +[05/27 04:01:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3286 +[05/27 04:01:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3286: 0/1 successful episodes +[05/27 04:01:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3381 (index 33/115) +[05/27 04:01:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3381 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:01:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place orange plastic funnel next to transparent tall wine glass +[2026-05-27 04:03:07,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:03:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:13:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 3381 episode 0 object objafunnel_19cc6aeef5a245d5805be62c0473fb94_1_0_8 completed with success=False +[05/27 04:13:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3381: 1 episodes +[05/27 04:13:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:13:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:13:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3381 +[05/27 04:13:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3381 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 04:13:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3381 +[05/27 04:13:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3381: 0/1 successful episodes +[05/27 04:13:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3441 (index 34/115) +[05/27 04:13:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:13:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place miniature stone tower next to castle tower with turrets +[2026-05-27 04:14:52,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:30:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3441 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 completed with success=False +[05/27 04:30:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3441: 1 episodes +[05/27 04:30:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:30:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:30:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3441 +[05/27 04:30:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3441 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 04:30:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3441 +[05/27 04:30:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3441: 0/1 successful episodes +[05/27 04:30:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3527 (index 35/115) +[05/27 04:30:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3527 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:30:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place compact black reflex sight next to large black hardcover book +[2026-05-27 04:31:28,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:47:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 3527 episode 0 object objareflexsight_0cf999d9363940c2b149dcd80c448554_1_0_4 completed with success=False +[05/27 04:47:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3527: 1 episodes +[05/27 04:47:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:47:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:47:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3527 +[05/27 04:47:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3527 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 04:47:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3527 +[05/27 04:47:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3527: 0/1 successful episodes +[05/27 04:47:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3631 (index 36/115) +[05/27 04:47:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:47:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place gray pyramid die with turquoise numbers next to small decorative green indoor plant +[2026-05-27 04:48:32,696] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:49:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:57:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 3631 episode 0 object objadie_7dadee868cb5440a909202978960e4f0_1_0_6 completed with success=False +[05/27 04:57:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3631: 1 episodes +[05/27 04:57:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:57:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:57:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3631 +[05/27 04:57:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3631 in 2.44s (batch: 2.36s, save: 0.09s) +[05/27 04:57:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3631 +[05/27 04:57:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3631: 0/1 successful episodes +[05/27 04:57:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3723 (index 37/115) +[05/27 04:57:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:57:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/27 04:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 in scene +[05/27 04:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objalicenseplate_de125bed7cf34a688c3b350458528c29_1_0_6 in scene +Goal: place translucent blue soap bottle next to worn brown glove +[2026-05-27 04:58:24,409] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:58:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:06:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3723 episode 0 object soapdispenser_0267abb541e75de6e7634578b1e18027_1_0_6 completed with success=False +[05/27 05:06:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3723: 1 episodes +[05/27 05:06:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:06:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:06:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3723 +[05/27 05:06:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3723 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 05:06:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3723 +[05/27 05:06:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3723: 0/1 successful episodes +[05/27 05:06:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3776 (index 38/115) +[05/27 05:06:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3776 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:06:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place large olive green clothespin with spring next to metal lever with base +[2026-05-27 05:07:15,798] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:21:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 3776 episode 0 object objaclothespin_42ca19f6f28340d090ed5773924f5f83_1_0_6 completed with success=False +[05/27 05:21:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3776: 1 episodes +[05/27 05:21:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:21:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:21:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3776 +[05/27 05:21:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3776 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 05:21:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3776 +[05/27 05:21:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3776: 0/1 successful episodes +[05/27 05:21:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3912 (index 39/115) +[05/27 05:21:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:21:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_3 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_bad11b50862f471a9dc45ecee981603f_1_0_5 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_6628f95227c24e07ab786e2368171656_1_0_5 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_8c95dcf230a14c4834feec5a2bb28749_1_0_6 in scene +Goal: place black and pink figure next to colorful bird with pink beak +[2026-05-27 05:22:46,942] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:23:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:37:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 3912 episode 0 object objaabstractfigure_bed3269ce11c4c078d13536263725547_1_0_2 completed with success=False +[05/27 05:37:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3912: 1 episodes +[05/27 05:37:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:37:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:37:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3912 +[05/27 05:37:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3912 in 2.44s (batch: 2.36s, save: 0.09s) +[05/27 05:37:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3912 +[05/27 05:37:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3912: 0/1 successful episodes +[05/27 05:37:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4034 (index 40/115) +[05/27 05:37:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4034 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:37:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 05:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_75c82681c158404196c70e5d44d72c34_1_0_5 in scene +[05/27 05:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene +[05/27 05:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +Goal: place wireless telephone next to dark soil slab +[2026-05-27 05:38:39,494] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:54:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4034 episode 0 object objavintagemobilephone_5f7dc6411ae94dd2bb98e59d83832ab1_1_0_2 completed with success=False +[05/27 05:54:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4034: 1 episodes +[05/27 05:54:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:54:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:54:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4034 +[05/27 05:54:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4034 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 05:54:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4034 +[05/27 05:54:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4034: 0/1 successful episodes +[05/27 05:54:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4136 (index 41/115) +[05/27 05:54:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4136 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:54:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place red and white block sign next to light gray wooden bowl +[2026-05-27 05:55:52,141] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4136 episode 0 object objasignage_15cd21252eda4ee780eb3be74d655d40_1_0_2 completed with success=False +[05/27 06:10:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4136: 1 episodes +[05/27 06:10:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:10:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:10:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4136 +[05/27 06:10:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4136 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 06:10:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4136 +[05/27 06:10:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4136: 0/1 successful episodes +[05/27 06:10:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4184 (index 42/115) +[05/27 06:10:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:10:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 06:11:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +Goal: place dark tool next to light blue cat with yellow patterns +[2026-05-27 06:12:06,199] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:12:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:23:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4184 episode 0 object objahandtool_ff7b35a3183f4d9fa85d14dd7309dea5_1_0_6 completed with success=False +[05/27 06:23:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 06:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +Goal: place blue patterned cat next to gold pump bottle +[2026-05-27 06:24:20,676] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:24:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:35:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 4184 episode 1 object objadecorativecat_1beba9b24a9143df8559410f1522aad6_1_0_6 completed with success=False +[05/27 06:35:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4184: 2 episodes +[05/27 06:35:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:35:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4184 +[05/27 06:35:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4184 in 5.58s (batch: 5.40s, save: 0.18s) +[05/27 06:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4184 +[05/27 06:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4184: 0/2 successful episodes +[05/27 06:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4205 (index 43/115) +[05/27 06:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:35:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place blue floral ceramic teacup with handle next to tall white candle +[2026-05-27 06:36:26,949] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:36:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:47:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=False +[05/27 06:47:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4205: 1 episodes +[05/27 06:47:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:47:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:47:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4205 +[05/27 06:47:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4205 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 06:47:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4205 +[05/27 06:47:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4205: 0/1 successful episodes +[05/27 06:47:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4283 (index 44/115) +[05/27 06:47:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:47:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place matte black cylindrical suppressor next to silver bowl +[2026-05-27 06:48:49,946] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:49:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:59:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4283 episode 0 object objasuppressor_bc9f4829adc340aa91290494661592c4_1_0_7 completed with success=False +[05/27 06:59:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4283: 1 episodes +[05/27 06:59:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:59:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:59:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4283 +[05/27 06:59:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4283 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 06:59:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4283 +[05/27 06:59:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4283: 0/1 successful episodes +[05/27 06:59:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4323 (index 45/115) +[05/27 06:59:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:59:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 07:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_2ec1ab458bcd4ea59236bb58bc3707dd_1_0_5 in scene +[05/27 07:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetorch_fc829f78d01c451a8f3c808099691225_1_0_5 in scene +Goal: place sleek black calculator with buttons next to green card with flowers +[2026-05-27 07:01:15,329] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:01:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:19:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4323 episode 0 object objacalculator_cac428295bf64df59ffad15bc3124b0a_1_0_6 completed with success=False +[05/27 07:19:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4323: 1 episodes +[05/27 07:19:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:19:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:19:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4323 +[05/27 07:19:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4323 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 07:19:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4323 +[05/27 07:19:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4323: 0/1 successful episodes +[05/27 07:19:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4398 (index 46/115) +[05/27 07:19:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:19:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 07:19:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +Goal: place brass astrolabe with engravings next to dark stone cylindrical seal with carvings +[2026-05-27 07:20:36,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:21:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:28:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4398 episode 0 object objaastrolabe_530bd21edcdf4c4695cc4c8af856d6bf_1_0_2 completed with success=False +[05/27 07:28:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4398: 1 episodes +[05/27 07:28:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:28:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:28:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4398 +[05/27 07:28:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4398 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 07:28:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4398 +[05/27 07:28:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4398: 0/1 successful episodes +[05/27 07:28:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4492 (index 47/115) +[05/27 07:28:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:28:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place black spiked collar next to spray bottle +[2026-05-27 07:29:24,500] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:34:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4492 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 completed with success=False +[05/27 07:34:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4492: 1 episodes +[05/27 07:34:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:34:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:34:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4492 +[05/27 07:34:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4492 in 2.80s (batch: 2.70s, save: 0.09s) +[05/27 07:34:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4492 +[05/27 07:34:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4492: 0/1 successful episodes +[05/27 07:34:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4610 (index 48/115) +[05/27 07:34:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:34:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place stone hammer next to bulbous shiny gold metallic vase +[2026-05-27 07:35:50,765] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:36:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4610 episode 0 object objastonehammer_ad3d9fa077264d4484c91c6b05888a4e_1_0_2 completed with success=False +[05/27 07:43:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4610: 1 episodes +[05/27 07:43:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:43:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:43:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4610 +[05/27 07:43:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4610 in 2.43s (batch: 2.35s, save: 0.09s) +[05/27 07:43:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4610 +[05/27 07:43:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4610: 0/1 successful episodes +[05/27 07:43:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4677 (index 49/115) +[05/27 07:43:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4677 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:43:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place card with green flowers next to colorful cube with designs +[2026-05-27 07:44:39,962] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:45:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:51:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4677 episode 0 object objadecorativecard_8e87806126c448aab98c71055a501921_1_0_2 completed with success=False +[05/27 07:51:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4677: 1 episodes +[05/27 07:51:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:51:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:51:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4677 +[05/27 07:51:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4677 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 07:51:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4677 +[05/27 07:51:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4677: 0/1 successful episodes +[05/27 07:51:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4712 (index 50/115) +[05/27 07:51:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4712 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:51:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 07:51:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +Goal: place black cylindrical scope with lens next to small green tractor +[2026-05-27 07:52:31,316] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:53:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:04:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4712 episode 0 object objascope_74a317bd8f2c458a9ab89c9a188900e4_1_0_5 completed with success=False +[05/27 08:04:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4712: 1 episodes +[05/27 08:04:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:04:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:04:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4712 +[05/27 08:04:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4712 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 08:04:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4712 +[05/27 08:04:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4712: 0/1 successful episodes +[05/27 08:04:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4793 (index 51/115) +[05/27 08:04:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4793 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:04:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 08:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_6 in scene +[05/27 08:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_6 in scene +Goal: place yellow handheld gps with blue screen next to shallow white square ceramic bowl +[2026-05-27 08:06:08,230] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:06:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:20:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4793 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_4 completed with success=False +[05/27 08:20:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4793: 1 episodes +[05/27 08:20:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:20:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:20:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4793 +[05/27 08:20:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4793 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 08:20:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4793 +[05/27 08:20:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4793: 0/1 successful episodes +[05/27 08:20:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4870 (index 52/115) +[05/27 08:20:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4870 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:20:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place orange futuristic spacecraft with wings next to shallow wide gray ceramic bowl +[2026-05-27 08:21:30,479] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:22:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:33:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4870 episode 0 object objatoyspacecraft_5397fb2487734503a9819b448abf14c9_1_0_8 completed with success=False +[05/27 08:33:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4870: 1 episodes +[05/27 08:33:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:33:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:33:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4870 +[05/27 08:33:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4870 in 2.89s (batch: 2.79s, save: 0.09s) +[05/27 08:33:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4870 +[05/27 08:33:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4870: 0/1 successful episodes +[05/27 08:33:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4957 (index 53/115) +[05/27 08:33:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:33:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 08:34:09 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_3 in scene +[05/27 08:34:09 Worker 0 WARNING object_manager.py:1238] Could not find object vase_61e70bb516f7e79bff61fcd075396cae_1_0_3 in scene +Goal: place textured black yellow screwdriver next to green spherical lettuce +[2026-05-27 08:35:11,998] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:35:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:52:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4957 episode 0 object objascrewdriver_215ef6cbb3de40e2ab420f4332534bd9_1_0_2 completed with success=False +[05/27 08:52:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4957: 1 episodes +[05/27 08:52:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:52:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:52:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4957 +[05/27 08:52:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4957 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 08:52:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4957 +[05/27 08:52:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4957: 0/1 successful episodes +[05/27 08:52:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5050 (index 54/115) +[05/27 08:52:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5050 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:52:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +Goal: place black lightning trophy with base next to potato +[2026-05-27 08:54:06,560] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:09:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5050 episode 0 object objaaward_767baba2ef7145d188ab5437730b76ff_1_0_2 completed with success=False +[05/27 09:09:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5050: 1 episodes +[05/27 09:09:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:09:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:09:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5050 +[05/27 09:09:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5050 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 09:09:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5050 +[05/27 09:09:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5050: 0/1 successful episodes +[05/27 09:09:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5145 (index 55/115) +[05/27 09:09:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5145 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:09:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 09:10:01 Worker 0 WARNING object_manager.py:1238] Could not find object objatoy_3ca98f6caabd4c99960dc076fd759ab1_1_0_6 in scene +[05/27 09:10:01 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_6c30212de15b89322c74efcd143a7fbb_1_0_6 in scene +Goal: place brown wooden handle screwdriver next to sleek dark rectangular phone +[2026-05-27 09:11:04,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:11:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:22:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 5145 episode 0 object objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_7 completed with success=False +[05/27 09:22:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5145: 1 episodes +[05/27 09:22:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:22:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:22:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5145 +[05/27 09:22:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5145 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 09:22:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5145 +[05/27 09:22:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5145: 0/1 successful episodes +[05/27 09:22:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5200 (index 56/115) +[05/27 09:22:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:22:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5 in scene +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place blue star mold next to large red tomato +[2026-05-27 09:24:16,085] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:24:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:35:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5200 episode 0 object objamold_225720a070c046dba53c77e9a0a7716f_1_0_6 completed with success=False +[05/27 09:35:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5200: 1 episodes +[05/27 09:35:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:35:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:35:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5200 +[05/27 09:35:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5200 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 09:35:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5200 +[05/27 09:35:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5200: 0/1 successful episodes +[05/27 09:35:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5342 (index 57/115) +[05/27 09:35:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5342 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:35:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place red pagoda pop-up card next to vintage film projector with leather +[2026-05-27 09:38:56,911] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:39:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:48:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 5342 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7 completed with success=False +[05/27 09:48:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5342: 1 episodes +[05/27 09:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:48:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5342 +[05/27 09:48:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5342 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 09:48:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5342 +[05/27 09:48:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5342: 0/1 successful episodes +[05/27 09:48:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5453 (index 58/115) +[05/27 09:48:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:48:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 09:48:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene +[05/27 09:48:51 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place green cucumber next to blue patterned bowl +[2026-05-27 09:49:54,167] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:50:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:05:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5453 episode 0 object objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_2 completed with success=False +[05/27 10:05:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5453: 1 episodes +[05/27 10:05:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:05:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:05:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5453 +[05/27 10:05:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5453 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 10:05:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5453 +[05/27 10:05:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5453: 0/1 successful episodes +[05/27 10:05:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5543 (index 59/115) +[05/27 10:05:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:05:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place decorative wooden hatchet next to moka pot +[2026-05-27 10:06:24,949] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:07:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:15:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5543 episode 0 object objahatchet_0dfc7c5654e945daac9bd0ab195b24ee_1_0_6 completed with success=False +[05/27 10:15:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5543: 1 episodes +[05/27 10:15:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:15:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:15:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5543 +[05/27 10:15:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5543 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 10:15:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5543 +[05/27 10:15:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5543: 0/1 successful episodes +[05/27 10:15:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5606 (index 60/115) +[05/27 10:15:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5606 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:15:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/27 10:16:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_9 in scene +Goal: place mechanical device next to rectangular dark gray tufted pillow +[2026-05-27 10:17:23,444] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:19:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5606 episode 0 object objabicyclepump_283379c9c7c9422c8a0c5213c827723f_1_0_3 completed with success=False +[05/27 10:19:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5606: 1 episodes +[05/27 10:19:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:19:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:19:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5606 +[05/27 10:19:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5606 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 10:19:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5606 +[05/27 10:19:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5606: 0/1 successful episodes +[05/27 10:19:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5666 (index 61/115) +[05/27 10:19:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5666 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:19:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/27 10:20:39 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_8 in scene +Goal: place orange circular emblem with blue next to stopwatch +[2026-05-27 10:21:43,138] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:42:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5666 episode 0 object objadecorativeemblem_72eedb60542841c0a11d429d19854814_1_0_5 completed with success=False +[05/27 10:42:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5666: 1 episodes +[05/27 10:42:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:42:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:42:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5666 +[05/27 10:42:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5666 in 2.77s (batch: 2.67s, save: 0.09s) +[05/27 10:42:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5666 +[05/27 10:42:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5666: 0/1 successful episodes +[05/27 10:42:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5770 (index 62/115) +[05/27 10:42:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5770 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:42:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place large gray cylindrical metal bolt next to rectangular color calibration chart with colors +[2026-05-27 10:43:27,012] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:43:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:51:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5770 episode 0 object objabolt_2ccd6566b5714c5da3b61d3682ec64ac_1_0_2 completed with success=False +[05/27 10:51:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5770: 1 episodes +[05/27 10:51:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:51:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:51:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5770 +[05/27 10:51:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5770 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 10:51:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5770 +[05/27 10:51:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5770: 0/1 successful episodes +[05/27 10:51:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5896 (index 63/115) +[05/27 10:51:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:51:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 10:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_3 in scene +[05/27 10:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_3 in scene +Goal: place sleek dark rectangular phone next to vintage black ricoh kr-5 camera +[2026-05-27 10:52:18,272] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:52:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:00:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5896 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2 completed with success=False +[05/27 11:00:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5896: 1 episodes +[05/27 11:00:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:00:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:00:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5896 +[05/27 11:00:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5896 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 11:00:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5896 +[05/27 11:00:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5896: 0/1 successful episodes +[05/27 11:00:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5923 (index 64/115) +[05/27 11:00:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:00:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place shiny gold brown fish sculpture next to pizza slice with crust +[2026-05-27 11:01:44,387] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:12:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 5923 episode 0 object objadecorativefishsculpture_cc5426d3090c4047a1e4d5aa38c95d7a_1_0_2 completed with success=False +[05/27 11:12:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5923: 1 episodes +[05/27 11:12:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:12:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:12:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5923 +[05/27 11:12:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5923 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 11:12:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5923 +[05/27 11:12:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5923: 0/1 successful episodes +[05/27 11:12:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6057 (index 65/115) +[05/27 11:12:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:12:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place light brown cylindrical fabric spool next to metal bolt +[2026-05-27 11:13:46,511] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:14:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:25:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 6057 episode 0 object objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_8 completed with success=False +[05/27 11:25:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6057: 1 episodes +[05/27 11:25:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:25:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:25:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6057 +[05/27 11:25:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6057 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 11:25:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6057 +[05/27 11:25:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6057: 0/1 successful episodes +[05/27 11:25:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6120 (index 66/115) +[05/27 11:25:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6120 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:25:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place sharpening steel next to brown tortoise model with shell +[2026-05-27 11:27:02,457] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:27:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:39:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 6120 episode 0 object objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_8 completed with success=False +[05/27 11:39:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6120: 1 episodes +[05/27 11:39:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:39:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:39:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6120 +[05/27 11:39:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6120 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 11:39:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6120 +[05/27 11:39:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6120: 0/1 successful episodes +[05/27 11:39:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6204 (index 67/115) +[05/27 11:39:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6204 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:39:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place rustic brown dish next to bulbous shiny gold metallic vase +[2026-05-27 11:40:40,371] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:02:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 6204 episode 0 object objadish_59f077a37f3e4a369b488209046e5aeb_1_0_2 completed with success=False +[05/27 12:02:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6204: 1 episodes +[05/27 12:02:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:02:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:02:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6204 +[05/27 12:02:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6204 in 2.49s (batch: 2.41s, save: 0.09s) +[05/27 12:02:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6204 +[05/27 12:02:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6204: 0/1 successful episodes +[05/27 12:02:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6213 (index 68/115) +[05/27 12:02:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6213 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 12:02:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 12:02:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_e8bfe8a8bc294c9e9b03b03f1e40ee43_1_0_9 in scene +[05/27 12:02:37 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene +Goal: place insect next to insect +[2026-05-27 12:03:39,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:21:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6213 episode 0 object objainsectsculpture_dd195f6a3aed4a5da766b29e3ad14a2d_2_0_2 completed with success=False +[05/27 12:21:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 12:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_e8bfe8a8bc294c9e9b03b03f1e40ee43_1_0_9 in scene +[05/27 12:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene +Goal: place blue milk carton with red logo next to model starship +[2026-05-27 12:22:20,628] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:22:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:39:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 6213 episode 1 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_3 completed with success=False +[05/27 12:39:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6213: 2 episodes +[05/27 12:39:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:40:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:40:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:40:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:40:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6213 +[05/27 12:40:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6213 in 5.52s (batch: 5.35s, save: 0.17s) +[05/27 12:40:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6213 +[05/27 12:40:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6213: 0/2 successful episodes +[05/27 12:40:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6257 (index 69/115) +[05/27 12:40:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6257 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 12:40:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place wrench next to stylized yellow vintage cartoon van +[2026-05-27 12:41:41,579] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:42:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:52:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 6257 episode 0 object objaadjustablewrench_5bbc755b07924fcba6ccd702191f90df_1_0_6 completed with success=False +[05/27 12:52:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6257: 1 episodes +[05/27 12:52:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:52:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:52:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6257 +[05/27 12:52:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6257 in 2.57s (batch: 2.47s, save: 0.09s) +[05/27 12:52:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6257 +[05/27 12:52:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6257: 0/1 successful episodes +[05/27 12:52:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6302 (index 70/115) +[05/27 12:52:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6302 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 12:52:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place primitive tool next to miniature windmill +[2026-05-27 12:53:34,363] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:54:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:05:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6302 episode 0 object objaprimitivetool_4dfb6ac9b577431783a05825f9ffd8ff_1_0_9 completed with success=False +[05/27 13:05:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6302: 1 episodes +[05/27 13:05:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:05:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:05:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6302 +[05/27 13:05:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6302 in 2.46s (batch: 2.38s, save: 0.09s) +[05/27 13:05:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6302 +[05/27 13:05:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6302: 0/1 successful episodes +[05/27 13:05:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6385 (index 71/115) +[05/27 13:05:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:05:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place solid blue arrow with white outline next to geometric blue butterfly +[2026-05-27 13:07:16,225] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:07:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:09:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 6385 episode 0 object objadecorativearrow_f38febed165240b9aea5289c215c6b65_1_0_7 completed with success=False +[05/27 13:09:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6385: 1 episodes +[05/27 13:09:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:09:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:09:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6385 +[05/27 13:09:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6385 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 13:09:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6385 +[05/27 13:09:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6385: 0/1 successful episodes +[05/27 13:09:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6452 (index 72/115) +[05/27 13:09:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6452 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:09:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 13:09:36 Worker 0 WARNING object_manager.py:1238] Could not find object objasymbol_06feafda2e414e45bb709f7be46a1c00_1_0_8 in scene +[05/27 13:09:36 Worker 0 WARNING object_manager.py:1238] Could not find object vase_6036f2984fad087344d3e0313b088eaf_1_0_8 in scene +Goal: place oval avocado with bumpy green skin next to blue soap bottle with orange pump +[2026-05-27 13:10:42,392] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:11:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:12:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6452 episode 0 object objaavocado_cb72a029445445e4a9fb6cc76715d11d_1_0_8 completed with success=False +[05/27 13:12:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6452: 1 episodes +[05/27 13:12:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:12:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:12:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6452 +[05/27 13:12:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6452 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 13:12:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6452 +[05/27 13:12:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6452: 0/1 successful episodes +[05/27 13:12:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6543 (index 73/115) +[05/27 13:12:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:12:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object objahinge_1ffa7463a95647c5bc8c07359ff161ae_1_0_8 in scene +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object objahinge_4587c40e36704e7a96ffebad95028160_2_0_8 in scene +Goal: place metal chain next to table lamp +[2026-05-27 13:13:54,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:14:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:30:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 6543 episode 0 object objachain_f3ab69afeb0b49518318a2263f17564e_1_0_4 completed with success=False +[05/27 13:30:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6543: 1 episodes +[05/27 13:30:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:30:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:30:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6543 +[05/27 13:30:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6543 in 2.79s (batch: 2.69s, save: 0.09s) +[05/27 13:30:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6543 +[05/27 13:30:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6543: 0/1 successful episodes +[05/27 13:30:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6698 (index 74/115) +[05/27 13:30:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:30:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place red locomotive next to smooth rounded ceramic bowl +[2026-05-27 13:31:25,399] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:31:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:45:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6698 episode 0 object objatrainmodel_3463948e9b03463e8968dbdd11a5d745_1_0_4 completed with success=False +[05/27 13:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6698: 1 episodes +[05/27 13:45:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:45:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6698 +[05/27 13:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6698 in 2.97s (batch: 2.87s, save: 0.10s) +[05/27 13:45:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6698 +[05/27 13:45:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6698: 0/1 successful episodes +[05/27 13:45:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6766 (index 75/115) +[05/27 13:45:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:45:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place glossy chocolate cake bar wrapper next to dark matte cup with grooves +[2026-05-27 13:47:08,325] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:47:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:56:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 6766 episode 0 object objapackagedfood_5ceecc4773b845a5b9addfa0f324f159_1_0_6 completed with success=False +[05/27 13:56:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6766: 1 episodes +[05/27 13:56:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:56:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:56:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6766 +[05/27 13:56:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6766 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 13:56:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6766 +[05/27 13:56:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6766: 0/1 successful episodes +[05/27 13:56:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6884 (index 76/115) +[05/27 13:56:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:56:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place yellow handheld gps next to coffee machine +[2026-05-27 13:57:46,134] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:58:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:07:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 6884 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_2_0_6 completed with success=False +[05/27 14:07:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6884: 1 episodes +[05/27 14:07:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:07:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:07:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6884 +[05/27 14:07:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6884 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 14:07:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6884 +[05/27 14:07:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6884: 0/1 successful episodes +[05/27 14:07:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6941 (index 77/115) +[05/27 14:07:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6941 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:07:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place dark metal axe next to smooth light brown egg +[2026-05-27 14:08:48,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:09:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 6941 episode 0 object objahandaxe_be5b9e7c2bac495fb4494b89c2e3e915_1_0_6 completed with success=False +[05/27 14:18:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6941: 1 episodes +[05/27 14:18:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:18:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:18:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6941 +[05/27 14:18:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6941 in 2.39s (batch: 2.31s, save: 0.09s) +[05/27 14:18:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6941 +[05/27 14:18:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6941: 0/1 successful episodes +[05/27 14:18:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7013 (index 78/115) +[05/27 14:18:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:18:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 14:18:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place vintage beige minerva stopwatch with figure next to light blue labeled cleaning bottle +[2026-05-27 14:19:34,701] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:36:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 7013 episode 0 object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 completed with success=False +[05/27 14:36:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7013: 1 episodes +[05/27 14:36:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:36:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:36:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7013 +[05/27 14:36:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7013 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 14:36:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7013 +[05/27 14:36:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7013: 0/1 successful episodes +[05/27 14:36:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7076 (index 79/115) +[05/27 14:36:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7076 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:36:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place handheldscanner next to rusty spray paint can with blue +[2026-05-27 14:38:01,185] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:49:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 7076 episode 0 object objahandheldscanner_4768cdc427e249a2aea0124a54608f1f_1_0_4 completed with success=False +[05/27 14:49:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7076: 1 episodes +[05/27 14:49:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:49:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:49:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7076 +[05/27 14:49:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7076 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 14:49:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7076 +[05/27 14:49:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7076: 0/1 successful episodes +[05/27 14:49:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7172 (index 80/115) +[05/27 14:49:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7172 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:49:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place beige stone next to plate +[2026-05-27 14:50:42,831] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:51:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:01:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 7172 episode 0 object objastone_913f6a32c94043f9892baabc13025e7a_1_0_7 completed with success=False +[05/27 15:01:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7172: 1 episodes +[05/27 15:01:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7172 +[05/27 15:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7172 in 2.54s (batch: 2.45s, save: 0.09s) +[05/27 15:01:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7172 +[05/27 15:01:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7172: 0/1 successful episodes +[05/27 15:01:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7281 (index 81/115) +[05/27 15:01:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:01:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 15:02:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_94d0e225581b4db48da241b36d1be05b_1_0_5 in scene +Goal: place green snail with large brown shell next to bulbous shiny gold vase +[2026-05-27 15:03:13,022] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:03:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:16:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7281 episode 0 object objasnailsculpture_cc5307e5737f4db4ab09caeaeb07a6e7_1_0_4 completed with success=False +[05/27 15:16:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7281: 1 episodes +[05/27 15:16:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:16:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:16:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7281 +[05/27 15:16:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7281 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 15:16:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7281 +[05/27 15:16:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7281: 0/1 successful episodes +[05/27 15:16:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7343 (index 82/115) +[05/27 15:16:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7343 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:16:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place instrumentation next to classic blue and white camper van +[2026-05-27 15:17:25,635] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:18:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:31:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 7343 episode 0 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_4 completed with success=False +[05/27 15:31:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7343: 1 episodes +[05/27 15:31:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:31:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:31:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7343 +[05/27 15:31:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7343 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 15:31:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7343 +[05/27 15:31:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7343: 0/1 successful episodes +[05/27 15:31:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7377 (index 83/115) +[05/27 15:31:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7377 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:31:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[05/27 15:32:00 Worker 0 WARNING object_manager.py:1238] Could not find object objacrocodileskullreplica_3d87992f50434bfb8d762bd2a3d41994_1_0_2 in scene +[05/27 15:32:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadriftwood_df264661bdfb4e4a914988796df10d2f_1_0_2 in scene +[05/27 15:32:00 Worker 0 WARNING object_manager.py:1238] Could not find object vase_4686c3634f3334d6f28ba73fcd509a72_1_0_2 in scene +Goal: place red bowtie with white polka dots next to glossy brown goblet cup +[2026-05-27 15:33:03,615] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:33:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:42:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 7377 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False +[05/27 15:42:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7377: 1 episodes +[05/27 15:42:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:42:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:42:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7377 +[05/27 15:42:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7377 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 15:42:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7377 +[05/27 15:42:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7377: 0/1 successful episodes +[05/27 15:42:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7449 (index 84/115) +[05/27 15:42:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7449 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:42:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place medium brown rough potato with imperfections next to bulbous shiny gold metallic vase +[2026-05-27 15:43:53,750] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:44:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:51:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 7449 episode 0 object Irishpotato_97ed5203740bb4947ae92dcbf36ae46c_1_0_2 completed with success=False +[05/27 15:51:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7449: 1 episodes +[05/27 15:51:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:51:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:51:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7449 +[05/27 15:51:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7449 in 2.91s (batch: 2.81s, save: 0.10s) +[05/27 15:51:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7449 +[05/27 15:51:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7449: 0/1 successful episodes +[05/27 15:51:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7506 (index 85/115) +[05/27 15:51:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7506 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:51:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place red ninja patch next to black mask +[2026-05-27 15:52:15,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:52:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:02:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 7506 episode 0 object objapatch_0d3e057f882d4d2093e7dbed9fd26a31_1_0_7 completed with success=False +[05/27 16:02:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7506: 1 episodes +[05/27 16:02:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:02:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:02:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7506 +[05/27 16:02:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7506 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 16:02:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7506 +[05/27 16:02:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7506: 0/1 successful episodes +[05/27 16:02:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7641 (index 86/115) +[05/27 16:02:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7641 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:02:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 16:03:16 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_394b22755d3368fb51669bf48bdfea21_1_0_2 in scene +[05/27 16:03:16 Worker 0 WARNING object_manager.py:1238] Could not find object objametalartifact_c98d18777e2640379f8f697975068cdf_1_0_5 in scene +[05/27 16:03:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_f4035bcaf9094e34afb664c872233c1c_1_0_5 in scene +Goal: place cornermolding next to miniature tree with lush green leaves +[2026-05-27 16:04:21,239] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:24:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 7641 episode 0 object objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_4 completed with success=False +[05/27 16:24:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7641: 1 episodes +[05/27 16:24:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:24:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:24:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7641 +[05/27 16:24:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7641 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 16:24:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7641 +[05/27 16:24:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7641: 0/1 successful episodes +[05/27 16:24:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7755 (index 87/115) +[05/27 16:24:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:24:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place hexagonal metallic light projector next to black hardcover book with orange text +[2026-05-27 16:25:50,299] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:26:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:32:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 7755 episode 0 object objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_1_0_3 completed with success=False +[05/27 16:32:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7755: 1 episodes +[05/27 16:32:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:32:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:32:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7755 +[05/27 16:32:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7755 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 16:32:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7755 +[05/27 16:32:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7755: 0/1 successful episodes +[05/27 16:32:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7847 (index 88/115) +[05/27 16:32:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7847 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:32:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place dark metal container with label next to golden yellow apple with stem +[2026-05-27 16:33:56,576] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:34:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:47:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 7847 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_3_0_2 completed with success=False +[05/27 16:47:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7847: 1 episodes +[05/27 16:47:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:47:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:47:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7847 +[05/27 16:47:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7847 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 16:47:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7847 +[05/27 16:47:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7847: 0/1 successful episodes +[05/27 16:47:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7933 (index 89/115) +[05/27 16:47:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:47:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place instrumentation next to black rectangular network switch +[2026-05-27 16:49:01,480] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:49:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:58:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 7933 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_9 completed with success=False +[05/27 16:58:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7933: 1 episodes +[05/27 16:58:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:58:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:58:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7933 +[05/27 16:58:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7933 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 16:58:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7933 +[05/27 16:58:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7933: 0/1 successful episodes +[05/27 16:58:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8019 (index 90/115) +[05/27 16:58:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:58:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place silencer next to metal lamp +[2026-05-27 17:00:02,942] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:00:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:14:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 8019 episode 0 object objasuppressor_4d9a44997f514c8da02d3a6be9b9648b_1_0_6 completed with success=False +[05/27 17:14:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8019: 1 episodes +[05/27 17:14:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:14:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:14:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8019 +[05/27 17:14:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8019 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 17:14:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8019 +[05/27 17:14:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8019: 0/1 successful episodes +[05/27 17:14:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8115 (index 91/115) +[05/27 17:14:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 17:14:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place blue calendar with mountains next to metallic burgundy toaster +[2026-05-27 17:15:54,269] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 8115 episode 0 object objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_1_0_8 completed with success=False +[05/27 17:31:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8115: 1 episodes +[05/27 17:31:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:31:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:31:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8115 +[05/27 17:31:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8115 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 17:31:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8115 +[05/27 17:31:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8115: 0/1 successful episodes +[05/27 17:31:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8221 (index 92/115) +[05/27 17:31:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 17:31:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place primitive stone axe with wooden handle next to shiny gold vase +[2026-05-27 17:32:50,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:33:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:49:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8221 episode 0 object objastoneaxe_c6677888b7944b9295ed73a1061d448f_1_0_9 completed with success=False +[05/27 17:49:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8221: 1 episodes +[05/27 17:49:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:49:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:49:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8221 +[05/27 17:49:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8221 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 17:49:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8221 +[05/27 17:49:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8221: 0/1 successful episodes +[05/27 17:49:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8264 (index 93/115) +[05/27 17:49:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8264 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 17:49:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place light gray origami crane next to light gray origami paper crane +[2026-05-27 17:50:23,993] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:02:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 8264 episode 0 object objaorigamicrane_1b852180c77842c2867a9ff0a4959f2e_1_0_4 completed with success=False +[05/27 18:02:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8264: 1 episodes +[05/27 18:02:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:02:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:02:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8264 +[05/27 18:02:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8264 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 18:02:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8264 +[05/27 18:02:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8264: 0/1 successful episodes +[05/27 18:02:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8278 (index 94/115) +[05/27 18:02:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 8278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:02:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place rectangular metallic keypad with buttons next to gray ankle boot +[2026-05-27 18:03:57,912] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:13:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 8278 episode 0 object objakeypad_7994d3067a554e4dab14e88af242f174_1_0_7 completed with success=False +[05/27 18:13:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place blue gold beaded bottle next to metallic blue toaster +[2026-05-27 18:14:19,307] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:23:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 8278 episode 1 object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 completed with success=False +[05/27 18:23:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8278: 2 episodes +[05/27 18:23:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:23:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:23:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:23:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:23:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8278 +[05/27 18:23:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8278 in 5.63s (batch: 5.45s, save: 0.18s) +[05/27 18:23:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8278 +[05/27 18:23:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8278: 0/2 successful episodes +[05/27 18:23:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8373 (index 95/115) +[05/27 18:23:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8373 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:23:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 18:24:11 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 in scene +[05/27 18:24:11 Worker 0 WARNING object_manager.py:1238] Could not find object objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_7 in scene +[05/27 18:24:11 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_7 in scene +Goal: place turquoise spray bottle next to smooth reflective silver vase +[2026-05-27 18:25:15,859] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:25:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:39:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 8373 episode 0 object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_8 completed with success=False +[05/27 18:39:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8373: 1 episodes +[05/27 18:39:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:40:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8373 +[05/27 18:40:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8373 in 2.50s (batch: 2.40s, save: 0.09s) +[05/27 18:40:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8373 +[05/27 18:40:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8373: 0/1 successful episodes +[05/27 18:40:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8410 (index 96/115) +[05/27 18:40:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8410 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:40:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 18:40:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place old rusted circular metal ring next to colorful blocky toy ship with propeller +[2026-05-27 18:41:16,890] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:41:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:52:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 8410 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7 completed with success=False +[05/27 18:52:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8410: 1 episodes +[05/27 18:52:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:52:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:52:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8410 +[05/27 18:52:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8410 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 18:52:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8410 +[05/27 18:52:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8410: 0/1 successful episodes +[05/27 18:52:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8495 (index 97/115) +[05/27 18:52:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:52:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place curved track next to medium cardboard box with flaps +[2026-05-27 18:53:53,743] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:54:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:00:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8495 episode 0 object objamodeltraintrack_823d9a0dfeea4d348bb75ecbe96b372a_1_0_7 completed with success=False +[05/27 19:00:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8495: 1 episodes +[05/27 19:00:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:00:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:00:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8495 +[05/27 19:00:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8495 in 2.69s (batch: 2.59s, save: 0.09s) +[05/27 19:00:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8495 +[05/27 19:00:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8495: 0/1 successful episodes +[05/27 19:00:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8625 (index 98/115) +[05/27 19:00:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:00:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place root vegetable next to medium round red tomato with stem +[2026-05-27 19:01:27,286] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:01:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:06:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 8625 episode 0 object Irishpotato_98dee472f1cf0a95c9fbc734935c5ea3_1_0_2 completed with success=False +[05/27 19:06:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8625: 1 episodes +[05/27 19:06:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:06:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:06:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8625 +[05/27 19:06:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8625 in 2.56s (batch: 2.47s, save: 0.09s) +[05/27 19:06:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8625 +[05/27 19:06:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8625: 0/1 successful episodes +[05/27 19:06:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8697 (index 99/115) +[05/27 19:06:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8697 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:06:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place miniature traffic light with striped pole next to gray spray bottle +[2026-05-27 19:07:59,958] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:08:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:18:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 8697 episode 0 object objaminiaturetrafficlight_51e10b3176ed4554bcc5ce306f8de3ee_1_0_6 completed with success=False +[05/27 19:18:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8697: 1 episodes +[05/27 19:18:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:18:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:18:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8697 +[05/27 19:18:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8697 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 19:18:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8697 +[05/27 19:18:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8697: 0/1 successful episodes +[05/27 19:18:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8794 (index 100/115) +[05/27 19:18:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8794 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:18:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place paintbrush with wooden handle next to semi-translucent flat white vase +[2026-05-27 19:20:00,734] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:29:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 8794 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_2 completed with success=False +[05/27 19:30:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8794: 1 episodes +[05/27 19:30:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:30:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:30:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8794 +[05/27 19:30:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8794 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 19:30:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8794 +[05/27 19:30:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8794: 0/1 successful episodes +[05/27 19:30:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8872 (index 101/115) +[05/27 19:30:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8872 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:30:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place tall teal product box next to yellow lyre +[2026-05-27 19:31:17,575] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:31:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:41:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 8872 episode 0 object objaproductpackaging_54e8b05815804d33b3322a500b97b1e4_1_0_7 completed with success=False +[05/27 19:41:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8872: 1 episodes +[05/27 19:41:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:41:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:41:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8872 +[05/27 19:41:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8872 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 19:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8872 +[05/27 19:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8872: 0/1 successful episodes +[05/27 19:41:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8933 (index 102/115) +[05/27 19:41:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:41:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 19:42:17 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_6 in scene +Goal: place small black trafficlight next to medium brown cardboard storage box +[2026-05-27 19:43:22,157] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:43:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:00:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8933 episode 0 object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4 completed with success=False +[05/27 20:00:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8933: 1 episodes +[05/27 20:00:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:00:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:00:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8933 +[05/27 20:00:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8933 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 20:00:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8933 +[05/27 20:00:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8933: 0/1 successful episodes +[05/27 20:00:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9017 (index 103/115) +[05/27 20:00:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9017 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:00:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 20:00:33 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemarker_162fba8901ea4ce5894d8b0916d802b4_1_0_5 in scene +[05/27 20:00:33 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemarker_162fba8901ea4ce5894d8b0916d802b4_2_0_5 in scene +[05/27 20:00:33 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeartifact_b1b4c89f78cf4dbda524100885eab273_1_0_5 in scene +Goal: place metal lid next to rugged brown and reddish textured rock +[2026-05-27 20:01:37,288] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:02:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:13:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 9017 episode 0 object objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8 completed with success=False +[05/27 20:13:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9017: 1 episodes +[05/27 20:13:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:13:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:13:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9017 +[05/27 20:13:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9017 in 2.77s (batch: 2.68s, save: 0.10s) +[05/27 20:13:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9017 +[05/27 20:13:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9017: 0/1 successful episodes +[05/27 20:13:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9073 (index 104/115) +[05/27 20:13:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9073 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:13:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place chirography next to white spherical model with label +[2026-05-27 20:14:49,194] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:26:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9073 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_7 completed with success=False +[05/27 20:26:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9073: 1 episodes +[05/27 20:26:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:26:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:26:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9073 +[05/27 20:26:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9073 in 2.44s (batch: 2.34s, save: 0.09s) +[05/27 20:26:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9073 +[05/27 20:26:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9073: 0/1 successful episodes +[05/27 20:26:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9142 (index 105/115) +[05/27 20:26:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:26:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place black rails with sleepers next to sleek slim dark phone with camera +[2026-05-27 20:27:50,426] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:28:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:42:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 9142 episode 0 object objamodeltraintrack_7d23228e7f8a4ae590324697eb36392b_1_0_9 completed with success=False +[05/27 20:42:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9142: 1 episodes +[05/27 20:42:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:42:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:42:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9142 +[05/27 20:42:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9142 in 2.55s (batch: 2.45s, save: 0.10s) +[05/27 20:42:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9142 +[05/27 20:42:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9142: 0/1 successful episodes +[05/27 20:42:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9221 (index 106/115) +[05/27 20:42:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:42:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 20:43:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_5 in scene +Goal: place purple striped paper roll next to round olive ceramic plate with scallops +[2026-05-27 20:44:47,178] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:01:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 9221 episode 0 object objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_3 completed with success=False +[05/27 21:01:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9221: 1 episodes +[05/27 21:01:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:01:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:01:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9221 +[05/27 21:01:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9221 in 2.91s (batch: 2.81s, save: 0.09s) +[05/27 21:01:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9221 +[05/27 21:01:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9221: 0/1 successful episodes +[05/27 21:01:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9297 (index 107/115) +[05/27 21:01:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9297 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:01:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place sleek black digital camera with lens next to tall dark cylindrical column +[2026-05-27 21:03:18,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:03:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:10:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 9297 episode 0 object objadigitalcamera_904be230d5ac43a6a9604abc946febc7_1_0_2 completed with success=False +[05/27 21:10:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9297: 1 episodes +[05/27 21:10:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:10:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:10:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9297 +[05/27 21:10:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9297 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 21:10:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9297 +[05/27 21:10:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9297: 0/1 successful episodes +[05/27 21:10:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9414 (index 108/115) +[05/27 21:10:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9414 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:10:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place primitive stone axe with wooden handle next to lighthouse +[2026-05-27 21:11:54,738] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:12:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:29:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 9414 episode 0 object objastoneaxe_bdf39735db194dcbb8ed79d340be699c_1_0_7 completed with success=False +[05/27 21:29:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9414: 1 episodes +[05/27 21:29:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:29:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:29:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9414 +[05/27 21:29:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9414 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 21:29:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9414 +[05/27 21:29:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9414: 0/1 successful episodes +[05/27 21:29:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9492 (index 109/115) +[05/27 21:29:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:29:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place anchor ring next to means +[2026-05-27 21:31:02,770] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:31:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:50:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 9492 episode 0 object objaring_ec7ca19df70b4b9e9d56f2a2c91dc401_1_0_2 completed with success=False +[05/27 21:50:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9492: 1 episodes +[05/27 21:50:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:50:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:50:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9492 +[05/27 21:50:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9492 in 2.90s (batch: 2.80s, save: 0.10s) +[05/27 21:50:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9492 +[05/27 21:50:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9492: 0/1 successful episodes +[05/27 21:50:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9538 (index 110/115) +[05/27 21:50:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9538 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:50:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 21:50:47 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodenplaque_1a3b2169bb114128b8ec6c2c53f9dc37_1_0_6 in scene +Goal: place yellow bubble tea cup with straw next to cup +[2026-05-27 21:51:53,168] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:52:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:09:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 9538 episode 0 object objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_1_0_2 completed with success=False +[05/27 22:09:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9538: 1 episodes +[05/27 22:09:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:09:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:09:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9538 +[05/27 22:09:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9538 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 22:09:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9538 +[05/27 22:09:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9538: 0/1 successful episodes +[05/27 22:09:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9609 (index 111/115) +[05/27 22:09:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9609 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:09:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 22:09:22 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_e58a7a0c37cb0ef9c8155d56cc319ccf_1_0_6 in scene +Goal: place smooth white curved bone next to cupcake with cherry and wafer +[2026-05-27 22:10:26,329] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:10:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:20:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 9609 episode 0 object objareplica_c3fe6dddc4ab4d5d89923c6619805710_1_0_6 completed with success=False +[05/27 22:20:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9609: 1 episodes +[05/27 22:20:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:20:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:20:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9609 +[05/27 22:20:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9609 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 22:20:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9609 +[05/27 22:20:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9609: 0/1 successful episodes +[05/27 22:20:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9687 (index 112/115) +[05/27 22:20:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9687 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:20:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place polished metal door lock next to purple square pillow +[2026-05-27 22:22:03,732] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:39:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 9687 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_8 completed with success=False +[05/27 22:39:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9687: 1 episodes +[05/27 22:39:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:39:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:39:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9687 +[05/27 22:39:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9687 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 22:39:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9687 +[05/27 22:39:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9687: 0/1 successful episodes +[05/27 22:39:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9768 (index 113/115) +[05/27 22:39:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9768 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:39:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place green pliers next to white jawbone +[2026-05-27 22:41:20,216] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:41:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:53:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 9768 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2 completed with success=False +[05/27 22:53:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9768: 1 episodes +[05/27 22:53:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:53:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:53:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9768 +[05/27 22:53:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9768 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 22:53:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9768 +[05/27 22:53:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9768: 0/1 successful episodes +[05/27 22:53:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9939 (index 114/115) +[05/27 22:53:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:53:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place photoalbum next to miniature pink torii gate +[2026-05-27 22:55:35,432] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:56:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 23:12:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 9939 episode 0 object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2 completed with success=False +[05/27 23:12:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9939: 1 episodes +[05/27 23:12:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 23:12:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 23:12:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9939 +[05/27 23:12:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9939 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 23:12:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9939 +[05/27 23:12:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9939: 0/1 successful episodes +[05/27 23:12:36 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 23:12:36 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 23:12:36 INFO pipeline.py:1499] Success count: 1, Total count: 119 +[05/27 23:12:36 INFO pipeline.py:1500] Success rate: 0.84% +Combined 119 episodes from 115 files → /tmp/tmp3po3cno3.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv at-end: 0.84% | oracle: 0.84% of 119 episodes +[2026-05-27 23:12:49,606] INFO MolmoSpaces simulator eval finished: success=1/119 rate=0.0084 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval +[2026-05-27 23:12:49,606] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..66c326d9e4d64e7a5f1669dcdc421d6d432fd6b7 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5654e23e6e87c7a0ed6253160f9fa1b6e3304ce --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/episode_results.jsonl @@ -0,0 +1,119 @@ +{"house_id": "house_1023", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white bowling pin with red stripes and place it next to the black calculator with buttons", "object_name": "objabowlingpin_b64b0c12be0a4242bf20167812a8df9e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1023/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1153", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 285, "task_description": "Pick up the tall white candle on golden holder and place it next to the brown bowl", "object_name": "candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1153/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1223", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden chisel and place it next to the dark green graphics card with fans", "object_name": "objachisel_c6bbc73907ae42b98384b213f166abcc_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1223/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1314", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange cylindrical medicine bottle with label and place it next to the octagonal translucent soap bottle", "object_name": "objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1314/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1382", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna helix and place it next to the alarmclock", "object_name": "objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1382/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1444", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the multicolored molecular model with spheres and place it next to the dark glossy hardcover book with gold", "object_name": "objatoy_bc73d10e6aca4b13ae05b5e4017ed484_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1444/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1602", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white lint roller with handle and place it next to the blue dna helix model with rungs", "object_name": "objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1602/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1700", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vibrant purple artificial flower with stem and place it next to the open brown cardboard storage box", "object_name": "objaartificialflower_6f3a95b0c03144d4831483daed751ca8_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1700/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1771", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate vintage parchment ribbon and place it next to the dark matte cup with grooves", "object_name": "objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1771/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1886", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue ceramic bowl and place it next to the soap bottle", "object_name": "bowl_344f5d88e6486f071740266b3cc43858_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1886/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1963", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black logo featuring yellow car silhouette and place it next to the butterfly knife with colorful gradient blade", "object_name": "objalogo_df86b5ef4e054efca6be94242016e748_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1963/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1963", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact olive green emergency radio and place it next to the butterfly knife with colorful gradient blade", "object_name": "objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1963/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1972", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic human hand and place it next to the glossy ripe red tomato with stem", "object_name": "objahandmodel_3a3eb7eda5294f4893fb8236199aea06_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1972/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2037", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue disc with thumbs-up and place it next to the dark square switch plate with screws", "object_name": "objadecorativesymbol_9a0a54db263b4f1a8cdeed4187e70869_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2037/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2151", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handmade mallet with stones and place it next to the cleaning product", "object_name": "objadecorativemallet_c9c8c6e330c94b55a830e67d1529cb1f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2151/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2256", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular wooden luggage tag with engraving and place it next to the vintage instant camera with rainbow stripe", "object_name": "objaluggagetag_8564a22483104f8aac76a02c12db952a_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2256/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2363", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal kerosene lantern and place it next to the irregular patch of ground", "object_name": "objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2363/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2467", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hexagonal dark stone platform and place it next to the stylized orange butterfly with brown body", "object_name": "objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2467/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2523", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp butterfly knife with wood and place it next to the glossy yellow ceramic vase", "object_name": "objabutterflyknife_8e74e69fda494c5e8d4ae75afa1e7df7_1_0_2", "data_file_path": 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"task_description": "Pick up the purple pekito chocolate snack package and place it next to the breadstuff", "object_name": "objasnackpackage_569da04563544734bd90630d57fc7be2_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2791/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2861", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the badge and place it next to the foodstuff", "object_name": "objabadge_7a552ea892ef4891890ee98ad3c99cdd_1_0_6", "data_file_path": 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"task_description": "Pick up the white aerodynamic shell and place it next to the slim rectangular metallic phone", "object_name": "objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3056/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3199", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the transparent flask with vibrant purple liquid and place it next to the breadstuff", "object_name": "objaflask_c0b5678842064353972d518a67f1ff13_1_0_6", "data_file_path": 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the smooth wooden rod and place it next to the round brown bread loaf", "object_name": "objawoodenrod_bdf07f6c648b4d74af80ea7103ac384c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3286/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3381", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange plastic funnel and place it next to the transparent tall wine glass", "object_name": "objafunnel_19cc6aeef5a245d5805be62c0473fb94_1_0_8", "data_file_path": 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"task_description": "Pick up the compact black reflex sight and place it next to the large black hardcover book", "object_name": "objareflexsight_0cf999d9363940c2b149dcd80c448554_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3527/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3631", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray pyramid die with turquoise numbers and place it next to the small decorative green indoor plant", "object_name": "objadie_7dadee868cb5440a909202978960e4f0_1_0_6", "data_file_path": 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up the large olive green clothespin with spring and place it next to the metal lever with base", "object_name": "objaclothespin_42ca19f6f28340d090ed5773924f5f83_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3776/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3912", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black and pink figure and place it next to the colorful bird with pink beak", "object_name": "objaabstractfigure_bed3269ce11c4c078d13536263725547_1_0_2", "data_file_path": 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the red and white block sign and place it next to the light gray wooden bowl", "object_name": "objasignage_15cd21252eda4ee780eb3be74d655d40_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4136/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4184", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark tool and place it next to the light blue cat with yellow patterns", "object_name": "objahandtool_ff7b35a3183f4d9fa85d14dd7309dea5_1_0_6", "data_file_path": 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the blue floral ceramic teacup with handle and place it next to the tall white candle", "object_name": "objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4205/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4283", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the matte black cylindrical suppressor and place it next to the silver bowl", "object_name": "objasuppressor_bc9f4829adc340aa91290494661592c4_1_0_7", "data_file_path": 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"task_description": "Pick up the brass astrolabe with engravings and place it next to the dark stone cylindrical seal with carvings", "object_name": "objaastrolabe_530bd21edcdf4c4695cc4c8af856d6bf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4398/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4492", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spiked collar and place it next to the spray bottle", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3", "data_file_path": 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"task_description": "Pick up the orange futuristic spacecraft with wings and place it next to the shallow wide gray ceramic bowl", "object_name": "objatoyspacecraft_5397fb2487734503a9819b448abf14c9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4870/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4957", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the textured black yellow screwdriver and place it next to the green spherical lettuce", "object_name": "objascrewdriver_215ef6cbb3de40e2ab420f4332534bd9_1_0_2", "data_file_path": 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brown wooden handle screwdriver and place it next to the sleek dark rectangular phone", "object_name": "objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5145/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5200", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue star mold and place it next to the large red tomato", "object_name": "objamold_225720a070c046dba53c77e9a0a7716f_1_0_6", "data_file_path": 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"task_description": "Pick up the green cucumber and place it next to the blue patterned bowl", "object_name": "objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5453/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5543", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorative wooden hatchet and place it next to the moka pot", "object_name": "objahatchet_0dfc7c5654e945daac9bd0ab195b24ee_1_0_6", "data_file_path": 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"task_description": "Pick up the orange circular emblem with blue and place it next to the stopwatch", "object_name": "objadecorativeemblem_72eedb60542841c0a11d429d19854814_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5666/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_571", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray cylindrical bacterium with flagella and place it next to the smooth white decorative molding", "object_name": "objabacteriummodel_f44d9a3b51e14bf38fe32292b0ac8bba_1_0_8", "data_file_path": 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449, "task_description": "Pick up the sleek dark rectangular phone and place it next to the vintage black ricoh kr-5 camera", "object_name": "cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5896/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5923", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold brown fish sculpture and place it next to the pizza slice with crust", "object_name": "objadecorativefishsculpture_cc5426d3090c4047a1e4d5aa38c95d7a_1_0_2", "data_file_path": 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"Pick up the sharpening steel and place it next to the brown tortoise model with shell", "object_name": "objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6120/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_614", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bronze full-figured statue and place it next to the vintage green aircraft", "object_name": "statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_3", "data_file_path": 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up the insect and place it next to the insect", "object_name": "objainsectsculpture_dd195f6a3aed4a5da766b29e3ad14a2d_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6213/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6213", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue milk carton with red logo and place it next to the model starship", "object_name": "objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6213/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6257", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wrench and place it next to the stylized yellow vintage cartoon van", "object_name": "objaadjustablewrench_5bbc755b07924fcba6ccd702191f90df_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6257/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6302", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive tool and place it next to the miniature windmill", "object_name": "objaprimitivetool_4dfb6ac9b577431783a05825f9ffd8ff_1_0_9", "data_file_path": 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"task_description": "Pick up the oval avocado with bumpy green skin and place it next to the blue soap bottle with orange pump", "object_name": "objaavocado_cb72a029445445e4a9fb6cc76715d11d_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6452/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6543", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal chain and place it next to the table lamp", "object_name": "objachain_f3ab69afeb0b49518318a2263f17564e_1_0_4", "data_file_path": 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up the glossy chocolate cake bar wrapper and place it next to the dark matte cup with grooves", "object_name": "objapackagedfood_5ceecc4773b845a5b9addfa0f324f159_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6766/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_679", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pale yellow disk with indentations and place it next to the soapdispenser", "object_name": "objadisk_97aa2085a8c143c0aacdce273d66d03d_2_0_2", "data_file_path": 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"task_description": "Pick up the beige stone and place it next to the plate", "object_name": "objastone_913f6a32c94043f9892baabc13025e7a_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7172/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_725", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the miniature stone tower and place it next to the n95 mask with blue valve", "object_name": "objaminiaturetower_0780a7e5369442c3967681084a046588_2_0_5", "data_file_path": 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"task_description": "Pick up the instrumentation and place it next to the classic blue and white camper van", "object_name": "objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7343/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7377", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red bowtie with white polka dots and place it next to the glossy brown goblet cup", "object_name": "objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6", "data_file_path": 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449, "task_description": "Pick up the red ninja patch and place it next to the black mask", "object_name": "objapatch_0d3e057f882d4d2093e7dbed9fd26a31_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7506/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7641", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cornermolding and place it next to the miniature tree with lush green leaves", "object_name": "objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_4", "data_file_path": 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"Pick up the silencer and place it next to the metal lamp", "object_name": "objasuppressor_4d9a44997f514c8da02d3a6be9b9648b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8019/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8115", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue calendar with mountains and place it next to the metallic burgundy toaster", "object_name": "objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_1_0_8", "data_file_path": 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"task_description": "Pick up the light gray origami crane and place it next to the light gray origami paper crane", "object_name": "objaorigamicrane_1b852180c77842c2867a9ff0a4959f2e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8264/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8278", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metallic keypad with buttons and place it next to the gray ankle boot", "object_name": "objakeypad_7994d3067a554e4dab14e88af242f174_1_0_7", "data_file_path": 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"task_description": "Pick up the turquoise spray bottle and place it next to the smooth reflective silver vase", "object_name": "atomizer_c60254aae031ecd4e316a5add61459a4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8373/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8410", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the old rusted circular metal ring and place it next to the colorful blocky toy ship with propeller", "object_name": "objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7", "data_file_path": 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"Pick up the brown carved stone seal with lion and place it next to the rugged handheld radio", "object_name": "objaseal_8197dcc6f59241cea24f1ac503c6e085_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_861/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8625", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the root vegetable and place it next to the medium round red tomato with stem", "object_name": "Irishpotato_98dee472f1cf0a95c9fbc734935c5ea3_1_0_2", "data_file_path": 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"task_description": "Pick up the paintbrush with wooden handle and place it next to the semi-translucent flat white vase", "object_name": "objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8794/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8872", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall teal product box and place it next to the yellow lyre", "object_name": "objaproductpackaging_54e8b05815804d33b3322a500b97b1e4_1_0_7", "data_file_path": 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"task_description": "Pick up the metal lid and place it next to the rugged brown and reddish textured rock", "object_name": "objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9017/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9073", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chirography and place it next to the white spherical model with label", "object_name": "objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9073/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9142", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rails with sleepers and place it next to the sleek slim dark phone with camera", "object_name": "objamodeltraintrack_7d23228e7f8a4ae590324697eb36392b_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9142/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9221", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple striped paper roll and place it next to the round olive ceramic plate with scallops", "object_name": "objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9221/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_927", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ergonomic black wireless mouse and place it next to the green mechanical fish", "object_name": "objacomputermouse_9ef32c2cbe46448db358b472f806c298_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_927/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9297", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black digital camera with lens and place it next to the tall dark cylindrical column", "object_name": "objadigitalcamera_904be230d5ac43a6a9604abc946febc7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9297/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9414", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the primitive stone axe with wooden handle and place it next to the lighthouse", "object_name": "objastoneaxe_bdf39735db194dcbb8ed79d340be699c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9414/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9492", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the anchor ring and place it next to the means", "object_name": "objaring_ec7ca19df70b4b9e9d56f2a2c91dc401_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9492/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9538", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow bubble tea cup with straw and place it next to the cup", "object_name": "objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9538/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9609", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth white curved bone and place it next to the cupcake with cherry and wafer", "object_name": "objareplica_c3fe6dddc4ab4d5d89923c6619805710_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9609/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9687", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished metal door lock and place it next to the purple square pillow", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9687/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9768", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green pliers and place it next to the white jawbone", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9768/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9939", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the photoalbum and place it next to the miniature pink torii gate", "object_name": "objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9939/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..ae37148c21c5745d0a57947e3d0714e7b100b24b --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/eval.log @@ -0,0 +1,3746 @@ +[2026-05-26 19:43:51,346] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,348] INFO Using MuJoCo EGL device id: 5 +[2026-05-26 19:43:51,348] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,378] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 (source=arg) +[2026-05-26 19:43:53,339] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:04,498] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,280] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,281] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,726] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,776] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,323] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [571, + 614, + 679, + 725, + 778, + 861, + 927, + 1023, + 1153, + 1223, + 1314, + 1382, + 1444, + 1602, + 1700, + 1771, + 1886, + 1963, + 1972, + 2037, + 2151, + 2256, + 2363, + 2467, + 2523, + 2676, + 2791, + 2861, + 2963, + 3056, + 3199, + 3262, + 3286, + 3381, + 3441, + 3527, + 3631, + 3723, + 3776, + 3912, + 4034, + 4136, + 4184, + 4205, + 4283, + 4323, + 4398, + 4492, + 4610, + 4677, + 4712, + 4793, + 4870, + 4957, + 5050, + 5145, + 5200, + 5342, + 5453, + 5543, + 5606, + 5666, + 5770, + 5896, + 5923, + 6057, + 6120, + 6204, + 6213, + 6257, + 6302, + 6385, + 6452, + 6543, + 6698, + 6766, + 6884, + 6941, + 7013, + 7076, + 7172, + 7281, + 7343, + 7377, + 7449, + 7506, + 7641, + 7755, + 7847, + 7933, + 8019, + 8115, + 8221, + 8264, + 8278, + 8373, + 8410, + 8495, + 8625, + 8697, + 8794, + 8872, + 8933, + 9017, + 9073, + 9142, + 9221, + 9297, + 9414, + 9492, + 9538, + 9609, + 9687, + 9768, + 9939], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,330] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 571 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/26 19:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 19:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_5 in scene +Goal: place gray cylindrical bacterium with flagella next to smooth white decorative molding +2026-05-26 19:48:35.069 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:36,027] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:37,102] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:37,645] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:37,844] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:37,847] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 19:59:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 571 episode 0 object objabacteriummodel_f44d9a3b51e14bf38fe32292b0ac8bba_1_0_8 completed with success=False +[05/26 19:59:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_571: 1 episodes +[05/26 19:59:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:59:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:59:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_571 +[05/26 19:59:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_571 in 2.51s (batch: 2.43s, save: 0.09s) +[05/26 19:59:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_571 +[05/26 19:59:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 571: 0/1 successful episodes +[05/26 19:59:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 614 (index 1/115) +[05/26 19:59:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 614 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 19:59:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/26 19:59:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_3 in scene +Goal: place bronze full-figured statue next to vintage green aircraft +[2026-05-26 20:00:51,121] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:01:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:08:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 614 episode 0 object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_3 completed with success=False +[05/26 20:08:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_614: 1 episodes +[05/26 20:08:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:08:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:08:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_614 +[05/26 20:08:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_614 in 2.42s (batch: 2.33s, save: 0.09s) +[05/26 20:08:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_614 +[05/26 20:08:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 614: 0/1 successful episodes +[05/26 20:08:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 679 (index 2/115) +[05/26 20:08:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 679 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 20:08:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object apple_1184bcea45a878476443040fbba5b76d_1_0_2 in scene +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5 in scene +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/26 20:09:25 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_7 in scene +Goal: place pale yellow disk with indentations next to soapdispenser +[2026-05-26 20:10:27,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:11:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:28:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 679 episode 0 object objadisk_97aa2085a8c143c0aacdce273d66d03d_2_0_2 completed with success=False +[05/26 20:28:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_679: 1 episodes +[05/26 20:28:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:28:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:28:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_679 +[05/26 20:28:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_679 in 2.78s (batch: 2.69s, save: 0.09s) +[05/26 20:28:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_679 +[05/26 20:28:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 679: 0/1 successful episodes +[05/26 20:28:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 725 (index 3/115) +[05/26 20:28:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 20:28:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place miniature stone tower next to n95 mask with blue valve +[2026-05-26 20:30:13,727] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:30:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:42:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 725 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_2_0_5 completed with success=False +[05/26 20:42:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_725: 1 episodes +[05/26 20:42:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:42:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:42:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_725 +[05/26 20:42:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_725 in 2.45s (batch: 2.36s, save: 0.09s) +[05/26 20:42:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_725 +[05/26 20:42:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 725: 0/1 successful episodes +[05/26 20:42:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 778 (index 4/115) +[05/26 20:42:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 778 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 20:42:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 20:43:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene +[05/26 20:43:19 Worker 0 WARNING object_manager.py:1238] Could not find object objasyringe_b76be5e0927040008050d7eae6dd2836_1_0_9 in scene +Goal: place orange ribbon star medal next to small gold dog statue +[2026-05-26 20:44:22,080] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:04:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 778 episode 0 object objamedal_33981284489f4a7b930e6cc917400042_1_0_6 completed with success=False +[05/26 21:04:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_778: 1 episodes +[05/26 21:04:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:04:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:04:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_778 +[05/26 21:04:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_778 in 2.78s (batch: 2.69s, save: 0.09s) +[05/26 21:04:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_778 +[05/26 21:04:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 778: 0/1 successful episodes +[05/26 21:04:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 861 (index 5/115) +[05/26 21:04:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 861 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:04:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaalienheadsculpture_72c057433cf8401d823713884723692c_1_0_4 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/26 21:05:08 Worker 0 WARNING object_manager.py:1238] Could not find object objadigitalart_15d28a35f51d40b5b8483db4e53af2b7_1_0_8 in scene +Goal: place brown carved stone seal with lion next to rugged handheld radio +[2026-05-26 21:06:11,395] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:06:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:18:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 861 episode 0 object objaseal_8197dcc6f59241cea24f1ac503c6e085_1_0_9 completed with success=False +[05/26 21:18:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_861: 1 episodes +[05/26 21:18:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:18:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:18:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_861 +[05/26 21:18:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_861 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 21:18:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_861 +[05/26 21:18:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 861: 0/1 successful episodes +[05/26 21:18:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 927 (index 6/115) +[05/26 21:18:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 927 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:18:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place ergonomic black wireless mouse next to green mechanical fish +[2026-05-26 21:19:58,875] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:37:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 927 episode 0 object objacomputermouse_9ef32c2cbe46448db358b472f806c298_1_0_2 completed with success=False +[05/26 21:37:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_927: 1 episodes +[05/26 21:37:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:37:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:37:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_927 +[05/26 21:37:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_927 in 2.82s (batch: 2.72s, save: 0.09s) +[05/26 21:37:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_927 +[05/26 21:37:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 927: 0/1 successful episodes +[05/26 21:37:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1023 (index 7/115) +[05/26 21:37:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1023 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:37:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/26 21:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_5 in scene +[05/26 21:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_30f356d441a74ef5a5311cfce28ccbf8_1_0_5 in scene +[05/26 21:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene +Goal: place white bowling pin with red stripes next to black calculator with buttons +[2026-05-26 21:38:57,291] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:39:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:56:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 1023 episode 0 object objabowlingpin_b64b0c12be0a4242bf20167812a8df9e_1_0_4 completed with success=False +[05/26 21:56:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1023: 1 episodes +[05/26 21:56:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:56:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:56:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1023 +[05/26 21:56:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1023 in 2.47s (batch: 2.38s, save: 0.09s) +[05/26 21:56:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1023 +[05/26 21:56:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1023: 0/1 successful episodes +[05/26 21:56:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1153 (index 8/115) +[05/26 21:56:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 21:56:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 21:56:36 Worker 0 WARNING object_manager.py:1238] Could not find object objacan_615d050718e849d2812ecfab3815bb6f_1_0_2 in scene +[05/26 21:56:36 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_39a09e2414136c22c19ce43e027d1f9a_1_0_2 in scene +Goal: place tall white candle on golden holder next to brown bowl +[2026-05-26 21:57:33,849] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:05:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 1153 episode 0 object candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_4 completed with success=True +[05/26 22:06:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1153: 1 episodes +[05/26 22:06:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 287 timesteps +[05/26 22:06:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:06:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1153 +[05/26 22:06:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1153 in 2.76s (batch: 2.69s, save: 0.07s) +[05/26 22:06:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1153 +[05/26 22:06:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1153: 1/1 successful episodes +[05/26 22:06:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1223 (index 9/115) +[05/26 22:06:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1223 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:06:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 22:07:02 Worker 0 WARNING object_manager.py:1238] Could not find object objabridgemodel_8dc8d8f731e346d8bef78d655e5fc3ce_1_0_4 in scene +[05/26 22:07:02 Worker 0 WARNING object_manager.py:1238] Could not find object objabridgemodel_8dc8d8f731e346d8bef78d655e5fc3ce_2_0_4 in scene +Goal: place wooden chisel next to dark green graphics card with fans +[2026-05-26 22:08:04,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:08:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:21:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 1223 episode 0 object objachisel_c6bbc73907ae42b98384b213f166abcc_1_0_4 completed with success=False +[05/26 22:21:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1223: 1 episodes +[05/26 22:21:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:21:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:21:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1223 +[05/26 22:21:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1223 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 22:21:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1223 +[05/26 22:21:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1223: 0/1 successful episodes +[05/26 22:21:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1314 (index 10/115) +[05/26 22:21:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:21:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/26 22:21:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene +Goal: place orange cylindrical medicine bottle with label next to octagonal translucent soap bottle +[2026-05-26 22:22:55,199] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:23:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:40:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 1314 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2 completed with success=False +[05/26 22:40:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1314: 1 episodes +[05/26 22:40:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:40:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:40:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1314 +[05/26 22:40:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1314 in 2.64s (batch: 2.55s, save: 0.09s) +[05/26 22:40:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1314 +[05/26 22:40:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1314: 0/1 successful episodes +[05/26 22:40:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1382 (index 11/115) +[05/26 22:40:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:40:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 22:40:26 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_5 in scene +[05/26 22:40:26 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene +Goal: place blue dna helix next to alarmclock +[2026-05-26 22:41:29,073] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:42:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:57:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1382 episode 0 object objadnamodel_746f0754e7cb45a4b54840e1b858b01d_2_0_6 completed with success=False +[05/26 22:57:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1382: 1 episodes +[05/26 22:57:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:57:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:57:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1382 +[05/26 22:57:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1382 in 2.41s (batch: 2.33s, save: 0.09s) +[05/26 22:57:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1382 +[05/26 22:57:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1382: 0/1 successful episodes +[05/26 22:57:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1444 (index 12/115) +[05/26 22:57:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 22:57:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 22:58:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene +[05/26 22:58:22 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene +Goal: place multicolored molecular model with spheres next to dark glossy hardcover book with gold +[2026-05-26 22:59:22,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:59:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:12:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 1444 episode 0 object objatoy_bc73d10e6aca4b13ae05b5e4017ed484_1_0_8 completed with success=False +[05/26 23:12:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1444: 1 episodes +[05/26 23:12:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:12:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:12:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1444 +[05/26 23:12:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1444 in 2.41s (batch: 2.33s, save: 0.09s) +[05/26 23:12:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1444 +[05/26 23:12:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1444: 0/1 successful episodes +[05/26 23:12:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1602 (index 13/115) +[05/26 23:12:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1602 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:12:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place white lint roller with handle next to blue dna helix model with rungs +[2026-05-26 23:14:17,785] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:14:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:29:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1602 episode 0 object objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_6 completed with success=False +[05/26 23:29:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1602: 1 episodes +[05/26 23:29:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:29:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1602 +[05/26 23:29:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1602 in 2.40s (batch: 2.32s, save: 0.09s) +[05/26 23:29:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1602 +[05/26 23:29:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1602: 0/1 successful episodes +[05/26 23:29:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1700 (index 14/115) +[05/26 23:29:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1700 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:29:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 23:30:21 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_d55375337d624047a92b414be8daed92_1_0_4 in scene +[05/26 23:30:21 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene +Goal: place vibrant purple artificial flower with stem next to open brown cardboard storage box +[2026-05-26 23:31:23,454] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:31:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 1700 episode 0 object objaartificialflower_6f3a95b0c03144d4831483daed751ca8_1_0_9 completed with success=False +[05/26 23:46:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1700: 1 episodes +[05/26 23:46:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:46:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:46:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1700 +[05/26 23:46:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1700 in 2.81s (batch: 2.71s, save: 0.09s) +[05/26 23:46:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1700 +[05/26 23:46:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1700: 0/1 successful episodes +[05/26 23:46:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1771 (index 15/115) +[05/26 23:46:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1771 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:46:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place intricate vintage parchment ribbon next to dark matte cup with grooves +[2026-05-26 23:47:27,446] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:48:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:58:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 1771 episode 0 object objadecorativescroll_efacaae73a7c4afb9476c8541428bce6_1_0_6 completed with success=False +[05/26 23:58:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1771: 1 episodes +[05/26 23:58:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:58:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:58:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1771 +[05/26 23:58:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1771 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 23:58:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1771 +[05/26 23:58:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1771: 0/1 successful episodes +[05/26 23:58:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1886 (index 16/115) +[05/26 23:58:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/26 23:58:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 00:02:44 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_6452090508df9a6b064d30e3553d5969_1_0_6 in scene +[05/27 00:02:44 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_c3140ad00db4cb9c43915d10d03cd1b9_1_0_6 in scene +Goal: place blue ceramic bowl next to soap bottle +[2026-05-27 00:03:46,784] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:19:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 1886 episode 0 object bowl_344f5d88e6486f071740266b3cc43858_1_0_8 completed with success=False +[05/27 00:20:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1886: 1 episodes +[05/27 00:20:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:20:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:20:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1886 +[05/27 00:20:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1886 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 00:20:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1886 +[05/27 00:20:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1886: 0/1 successful episodes +[05/27 00:20:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1963 (index 17/115) +[05/27 00:20:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 00:20:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place black logo featuring yellow car silhouette next to butterfly knife with colorful gradient blade +[2026-05-27 00:24:01,283] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:24:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:32:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 1963 episode 0 object objalogo_df86b5ef4e054efca6be94242016e748_1_0_7 completed with success=False +[05/27 00:32:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place compact olive green emergency radio next to butterfly knife with colorful gradient blade +[2026-05-27 00:33:40,627] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:34:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:42:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 1963 episode 1 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_7 completed with success=False +[05/27 00:42:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1963: 2 episodes +[05/27 00:42:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:42:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:42:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:42:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:42:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1963 +[05/27 00:42:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1963 in 4.86s (batch: 4.69s, save: 0.17s) +[05/27 00:42:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1963 +[05/27 00:42:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1963: 0/2 successful episodes +[05/27 00:42:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1972 (index 18/115) +[05/27 00:42:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 00:42:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place realistic human hand next to glossy ripe red tomato with stem +[2026-05-27 00:43:27,188] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:44:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:53:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 1972 episode 0 object objahandmodel_3a3eb7eda5294f4893fb8236199aea06_1_0_6 completed with success=False +[05/27 00:53:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1972: 1 episodes +[05/27 00:53:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:53:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:53:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1972 +[05/27 00:53:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1972 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 00:53:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1972 +[05/27 00:53:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1972: 0/1 successful episodes +[05/27 00:53:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2037 (index 19/115) +[05/27 00:53:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2037 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 00:53:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 00:55:50 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene +[05/27 00:55:50 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_2_0_5 in scene +Goal: place blue disc with thumbs-up next to dark square switch plate with screws +[2026-05-27 00:56:53,829] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:57:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:12:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 2037 episode 0 object objadecorativesymbol_9a0a54db263b4f1a8cdeed4187e70869_1_0_5 completed with success=False +[05/27 01:12:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2037: 1 episodes +[05/27 01:12:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:12:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:12:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2037 +[05/27 01:12:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2037 in 2.51s (batch: 2.43s, save: 0.09s) +[05/27 01:12:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2037 +[05/27 01:12:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2037: 0/1 successful episodes +[05/27 01:12:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2151 (index 20/115) +[05/27 01:12:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2151 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:12:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 01:13:01 Worker 0 WARNING object_manager.py:1238] Could not find object objabranch_c8fd0c9188a4425da438b523e548260a_1_0_6 in scene +[05/27 01:13:01 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestone_a19f0e4b24284b9294c0b64bb1a3f35a_1_0_6 in scene +Goal: place handmade mallet with stones next to cleaning product +[2026-05-27 01:14:05,096] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:14:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 2151 episode 0 object objadecorativemallet_c9c8c6e330c94b55a830e67d1529cb1f_1_0_4 completed with success=False +[05/27 01:28:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2151: 1 episodes +[05/27 01:28:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:28:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:28:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2151 +[05/27 01:28:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2151 in 2.93s (batch: 2.83s, save: 0.10s) +[05/27 01:28:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2151 +[05/27 01:28:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2151: 0/1 successful episodes +[05/27 01:28:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2256 (index 21/115) +[05/27 01:28:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2256 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:28:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place rectangular wooden luggage tag with engraving next to vintage instant camera with rainbow stripe +[2026-05-27 01:30:45,756] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:31:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:43:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2256 episode 0 object objaluggagetag_8564a22483104f8aac76a02c12db952a_2_0_6 completed with success=False +[05/27 01:43:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2256: 1 episodes +[05/27 01:43:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:43:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:43:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2256 +[05/27 01:43:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2256 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 01:43:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2256 +[05/27 01:43:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2256: 0/1 successful episodes +[05/27 01:43:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2363 (index 22/115) +[05/27 01:43:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2363 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:43:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 01:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/27 01:43:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_6275746374cf4768bbe8d2dcfeefb596_1_0_5 in scene +Goal: place vintage metal kerosene lantern next to irregular patch of ground +[2026-05-27 01:44:22,806] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 2363 episode 0 object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9 completed with success=False +[05/27 01:57:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2363: 1 episodes +[05/27 01:57:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:57:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:57:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2363 +[05/27 01:57:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2363 in 2.42s (batch: 2.34s, save: 0.09s) +[05/27 01:57:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2363 +[05/27 01:57:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2363: 0/1 successful episodes +[05/27 01:57:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2467 (index 23/115) +[05/27 01:57:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2467 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 01:57:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 01:57:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 01:57:32 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene +[05/27 01:57:32 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place hexagonal dark stone platform next to stylized orange butterfly with brown body +[2026-05-27 01:58:34,518] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:16:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2467 episode 0 object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_9 completed with success=False +[05/27 02:16:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2467: 1 episodes +[05/27 02:16:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:16:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:16:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2467 +[05/27 02:16:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2467 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 02:16:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2467 +[05/27 02:16:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2467: 0/1 successful episodes +[05/27 02:16:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2523 (index 24/115) +[05/27 02:16:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:16:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 02:16:39 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_3 in scene +[05/27 02:16:39 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_3 in scene +Goal: place sharp butterfly knife with wood next to glossy yellow ceramic vase +[2026-05-27 02:17:42,196] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:18:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:31:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 2523 episode 0 object objabutterflyknife_8e74e69fda494c5e8d4ae75afa1e7df7_1_0_2 completed with success=False +[05/27 02:31:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2523: 1 episodes +[05/27 02:31:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:31:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:31:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2523 +[05/27 02:31:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2523 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 02:31:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2523 +[05/27 02:31:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2523: 0/1 successful episodes +[05/27 02:31:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2676 (index 25/115) +[05/27 02:31:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:31:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 02:31:40 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/27 02:31:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene +Goal: place compact wooden radio with display next to light brown ceramic bowl +[2026-05-27 02:32:44,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:33:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:43:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 2676 episode 0 object objadigitalradio_c2af3d4e0a6440de8ca21c2e7bf08aec_1_0_6 completed with success=False +[05/27 02:43:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2676: 1 episodes +[05/27 02:43:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:43:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:43:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2676 +[05/27 02:43:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2676 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 02:43:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2676 +[05/27 02:43:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2676: 0/1 successful episodes +[05/27 02:43:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2791 (index 26/115) +[05/27 02:43:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2791 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:43:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place purple pekito chocolate snack package next to breadstuff +[2026-05-27 02:44:43,999] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:59:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 2791 episode 0 object objasnackpackage_569da04563544734bd90630d57fc7be2_1_0_8 completed with success=False +[05/27 02:59:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2791: 1 episodes +[05/27 02:59:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:59:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:59:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2791 +[05/27 02:59:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2791 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 02:59:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2791 +[05/27 02:59:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2791: 0/1 successful episodes +[05/27 02:59:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2861 (index 27/115) +[05/27 02:59:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2861 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 02:59:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 02:59:16 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 in scene +[05/27 02:59:16 Worker 0 WARNING object_manager.py:1238] Could not find object objarocketmodel_0426922358b4444f9887bcd551d3a5cb_1_0_7 in scene +[05/27 02:59:16 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_7 in scene +Goal: place badge next to foodstuff +[2026-05-27 03:00:22,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:00:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:09:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 2861 episode 0 object objabadge_7a552ea892ef4891890ee98ad3c99cdd_1_0_6 completed with success=False +[05/27 03:09:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2861: 1 episodes +[05/27 03:09:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:09:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:09:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2861 +[05/27 03:09:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2861 in 2.81s (batch: 2.71s, save: 0.09s) +[05/27 03:09:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2861 +[05/27 03:09:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2861: 0/1 successful episodes +[05/27 03:09:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2963 (index 28/115) +[05/27 03:09:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:09:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place light green plastic garden hose nozzle next to fresh green leafy lettuce +[2026-05-27 03:10:56,769] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:11:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:19:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 2963 episode 0 object objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_2 completed with success=False +[05/27 03:19:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2963: 1 episodes +[05/27 03:19:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:19:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:19:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2963 +[05/27 03:19:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2963 in 2.79s (batch: 2.69s, save: 0.09s) +[05/27 03:19:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2963 +[05/27 03:19:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2963: 0/1 successful episodes +[05/27 03:19:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3056 (index 29/115) +[05/27 03:19:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3056 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:19:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place white aerodynamic shell next to slim rectangular metallic phone +[2026-05-27 03:20:50,523] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:32:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3056 episode 0 object objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_9 completed with success=False +[05/27 03:32:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3056: 1 episodes +[05/27 03:32:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:32:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:32:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3056 +[05/27 03:32:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3056 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 03:32:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3056 +[05/27 03:32:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3056: 0/1 successful episodes +[05/27 03:32:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3199 (index 30/115) +[05/27 03:32:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3199 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:32:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place transparent flask with vibrant purple liquid next to breadstuff +[2026-05-27 03:33:28,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:34:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:44:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 3199 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_6 completed with success=False +[05/27 03:44:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3199: 1 episodes +[05/27 03:44:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:45:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:45:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3199 +[05/27 03:45:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3199 in 2.95s (batch: 2.86s, save: 0.10s) +[05/27 03:45:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3199 +[05/27 03:45:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3199: 0/1 successful episodes +[05/27 03:45:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3262 (index 31/115) +[05/27 03:45:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3262 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:45:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place folded newspaper paper boat next to soapdispenser +[2026-05-27 03:46:09,195] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:46:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:51:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3262 episode 0 object objapaperboat_e7ea8f4837354f6da7e4c4c9ee986ff1_1_0_2 completed with success=False +[05/27 03:51:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3262: 1 episodes +[05/27 03:51:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:51:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:51:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3262 +[05/27 03:51:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3262 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 03:51:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3262 +[05/27 03:51:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3262: 0/1 successful episodes +[05/27 03:51:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3286 (index 32/115) +[05/27 03:51:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 03:51:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place smooth wooden rod next to round brown bread loaf +[2026-05-27 03:52:56,564] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:53:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:01:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3286 episode 0 object objawoodenrod_bdf07f6c648b4d74af80ea7103ac384c_1_0_6 completed with success=False +[05/27 04:01:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3286: 1 episodes +[05/27 04:01:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:01:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:01:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3286 +[05/27 04:01:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3286 in 2.92s (batch: 2.82s, save: 0.10s) +[05/27 04:01:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3286 +[05/27 04:01:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3286: 0/1 successful episodes +[05/27 04:01:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3381 (index 33/115) +[05/27 04:01:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3381 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:01:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place orange plastic funnel next to transparent tall wine glass +[2026-05-27 04:03:07,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:03:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:13:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 3381 episode 0 object objafunnel_19cc6aeef5a245d5805be62c0473fb94_1_0_8 completed with success=False +[05/27 04:13:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3381: 1 episodes +[05/27 04:13:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:13:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:13:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3381 +[05/27 04:13:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3381 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 04:13:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3381 +[05/27 04:13:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3381: 0/1 successful episodes +[05/27 04:13:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3441 (index 34/115) +[05/27 04:13:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:13:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place miniature stone tower next to castle tower with turrets +[2026-05-27 04:14:52,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:30:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3441 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 completed with success=False +[05/27 04:30:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3441: 1 episodes +[05/27 04:30:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:30:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:30:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3441 +[05/27 04:30:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3441 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 04:30:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3441 +[05/27 04:30:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3441: 0/1 successful episodes +[05/27 04:30:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3527 (index 35/115) +[05/27 04:30:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3527 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:30:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place compact black reflex sight next to large black hardcover book +[2026-05-27 04:31:28,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:47:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 3527 episode 0 object objareflexsight_0cf999d9363940c2b149dcd80c448554_1_0_4 completed with success=False +[05/27 04:47:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3527: 1 episodes +[05/27 04:47:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:47:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:47:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3527 +[05/27 04:47:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3527 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 04:47:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3527 +[05/27 04:47:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3527: 0/1 successful episodes +[05/27 04:47:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3631 (index 36/115) +[05/27 04:47:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:47:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place gray pyramid die with turquoise numbers next to small decorative green indoor plant +[2026-05-27 04:48:32,696] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:49:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:57:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 3631 episode 0 object objadie_7dadee868cb5440a909202978960e4f0_1_0_6 completed with success=False +[05/27 04:57:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3631: 1 episodes +[05/27 04:57:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:57:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:57:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3631 +[05/27 04:57:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3631 in 2.44s (batch: 2.36s, save: 0.09s) +[05/27 04:57:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3631 +[05/27 04:57:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3631: 0/1 successful episodes +[05/27 04:57:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3723 (index 37/115) +[05/27 04:57:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 04:57:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/27 04:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 in scene +[05/27 04:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objalicenseplate_de125bed7cf34a688c3b350458528c29_1_0_6 in scene +Goal: place translucent blue soap bottle next to worn brown glove +[2026-05-27 04:58:24,409] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:58:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:06:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3723 episode 0 object soapdispenser_0267abb541e75de6e7634578b1e18027_1_0_6 completed with success=False +[05/27 05:06:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3723: 1 episodes +[05/27 05:06:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:06:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:06:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3723 +[05/27 05:06:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3723 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 05:06:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3723 +[05/27 05:06:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3723: 0/1 successful episodes +[05/27 05:06:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3776 (index 38/115) +[05/27 05:06:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3776 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:06:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place large olive green clothespin with spring next to metal lever with base +[2026-05-27 05:07:15,798] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:21:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 3776 episode 0 object objaclothespin_42ca19f6f28340d090ed5773924f5f83_1_0_6 completed with success=False +[05/27 05:21:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3776: 1 episodes +[05/27 05:21:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:21:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:21:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3776 +[05/27 05:21:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3776 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 05:21:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3776 +[05/27 05:21:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3776: 0/1 successful episodes +[05/27 05:21:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3912 (index 39/115) +[05/27 05:21:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:21:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_3 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_bad11b50862f471a9dc45ecee981603f_1_0_5 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_6628f95227c24e07ab786e2368171656_1_0_5 in scene +[05/27 05:21:41 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_8c95dcf230a14c4834feec5a2bb28749_1_0_6 in scene +Goal: place black and pink figure next to colorful bird with pink beak +[2026-05-27 05:22:46,942] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:23:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:37:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 3912 episode 0 object objaabstractfigure_bed3269ce11c4c078d13536263725547_1_0_2 completed with success=False +[05/27 05:37:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3912: 1 episodes +[05/27 05:37:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:37:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:37:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3912 +[05/27 05:37:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3912 in 2.44s (batch: 2.36s, save: 0.09s) +[05/27 05:37:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3912 +[05/27 05:37:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3912: 0/1 successful episodes +[05/27 05:37:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4034 (index 40/115) +[05/27 05:37:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4034 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:37:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 05:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_75c82681c158404196c70e5d44d72c34_1_0_5 in scene +[05/27 05:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene +[05/27 05:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +Goal: place wireless telephone next to dark soil slab +[2026-05-27 05:38:39,494] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:54:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4034 episode 0 object objavintagemobilephone_5f7dc6411ae94dd2bb98e59d83832ab1_1_0_2 completed with success=False +[05/27 05:54:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4034: 1 episodes +[05/27 05:54:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:54:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:54:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4034 +[05/27 05:54:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4034 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 05:54:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4034 +[05/27 05:54:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4034: 0/1 successful episodes +[05/27 05:54:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4136 (index 41/115) +[05/27 05:54:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4136 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 05:54:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place red and white block sign next to light gray wooden bowl +[2026-05-27 05:55:52,141] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4136 episode 0 object objasignage_15cd21252eda4ee780eb3be74d655d40_1_0_2 completed with success=False +[05/27 06:10:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4136: 1 episodes +[05/27 06:10:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:10:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:10:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4136 +[05/27 06:10:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4136 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 06:10:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4136 +[05/27 06:10:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4136: 0/1 successful episodes +[05/27 06:10:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4184 (index 42/115) +[05/27 06:10:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:10:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 06:11:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +Goal: place dark tool next to light blue cat with yellow patterns +[2026-05-27 06:12:06,199] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:12:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:23:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4184 episode 0 object objahandtool_ff7b35a3183f4d9fa85d14dd7309dea5_1_0_6 completed with success=False +[05/27 06:23:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 06:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +Goal: place blue patterned cat next to gold pump bottle +[2026-05-27 06:24:20,676] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:24:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:35:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 4184 episode 1 object objadecorativecat_1beba9b24a9143df8559410f1522aad6_1_0_6 completed with success=False +[05/27 06:35:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4184: 2 episodes +[05/27 06:35:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:35:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4184 +[05/27 06:35:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4184 in 5.58s (batch: 5.40s, save: 0.18s) +[05/27 06:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4184 +[05/27 06:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4184: 0/2 successful episodes +[05/27 06:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4205 (index 43/115) +[05/27 06:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:35:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place blue floral ceramic teacup with handle next to tall white candle +[2026-05-27 06:36:26,949] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:36:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:47:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=False +[05/27 06:47:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4205: 1 episodes +[05/27 06:47:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:47:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:47:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4205 +[05/27 06:47:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4205 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 06:47:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4205 +[05/27 06:47:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4205: 0/1 successful episodes +[05/27 06:47:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4283 (index 44/115) +[05/27 06:47:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:47:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place matte black cylindrical suppressor next to silver bowl +[2026-05-27 06:48:49,946] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:49:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:59:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4283 episode 0 object objasuppressor_bc9f4829adc340aa91290494661592c4_1_0_7 completed with success=False +[05/27 06:59:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4283: 1 episodes +[05/27 06:59:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:59:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:59:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4283 +[05/27 06:59:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4283 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 06:59:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4283 +[05/27 06:59:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4283: 0/1 successful episodes +[05/27 06:59:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4323 (index 45/115) +[05/27 06:59:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 06:59:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 07:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_2ec1ab458bcd4ea59236bb58bc3707dd_1_0_5 in scene +[05/27 07:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetorch_fc829f78d01c451a8f3c808099691225_1_0_5 in scene +Goal: place sleek black calculator with buttons next to green card with flowers +[2026-05-27 07:01:15,329] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:01:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:19:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4323 episode 0 object objacalculator_cac428295bf64df59ffad15bc3124b0a_1_0_6 completed with success=False +[05/27 07:19:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4323: 1 episodes +[05/27 07:19:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:19:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:19:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4323 +[05/27 07:19:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4323 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 07:19:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4323 +[05/27 07:19:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4323: 0/1 successful episodes +[05/27 07:19:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4398 (index 46/115) +[05/27 07:19:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:19:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 07:19:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +Goal: place brass astrolabe with engravings next to dark stone cylindrical seal with carvings +[2026-05-27 07:20:36,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:21:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:28:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4398 episode 0 object objaastrolabe_530bd21edcdf4c4695cc4c8af856d6bf_1_0_2 completed with success=False +[05/27 07:28:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4398: 1 episodes +[05/27 07:28:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:28:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:28:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4398 +[05/27 07:28:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4398 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 07:28:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4398 +[05/27 07:28:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4398: 0/1 successful episodes +[05/27 07:28:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4492 (index 47/115) +[05/27 07:28:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:28:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place black spiked collar next to spray bottle +[2026-05-27 07:29:24,500] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:34:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4492 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 completed with success=False +[05/27 07:34:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4492: 1 episodes +[05/27 07:34:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:34:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:34:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4492 +[05/27 07:34:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4492 in 2.80s (batch: 2.70s, save: 0.09s) +[05/27 07:34:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4492 +[05/27 07:34:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4492: 0/1 successful episodes +[05/27 07:34:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4610 (index 48/115) +[05/27 07:34:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:34:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place stone hammer next to bulbous shiny gold metallic vase +[2026-05-27 07:35:50,765] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:36:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4610 episode 0 object objastonehammer_ad3d9fa077264d4484c91c6b05888a4e_1_0_2 completed with success=False +[05/27 07:43:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4610: 1 episodes +[05/27 07:43:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:43:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:43:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4610 +[05/27 07:43:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4610 in 2.43s (batch: 2.35s, save: 0.09s) +[05/27 07:43:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4610 +[05/27 07:43:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4610: 0/1 successful episodes +[05/27 07:43:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4677 (index 49/115) +[05/27 07:43:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4677 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:43:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place card with green flowers next to colorful cube with designs +[2026-05-27 07:44:39,962] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:45:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:51:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4677 episode 0 object objadecorativecard_8e87806126c448aab98c71055a501921_1_0_2 completed with success=False +[05/27 07:51:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4677: 1 episodes +[05/27 07:51:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:51:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:51:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4677 +[05/27 07:51:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4677 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 07:51:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4677 +[05/27 07:51:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4677: 0/1 successful episodes +[05/27 07:51:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4712 (index 50/115) +[05/27 07:51:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4712 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 07:51:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 07:51:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +Goal: place black cylindrical scope with lens next to small green tractor +[2026-05-27 07:52:31,316] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:53:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:04:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4712 episode 0 object objascope_74a317bd8f2c458a9ab89c9a188900e4_1_0_5 completed with success=False +[05/27 08:04:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4712: 1 episodes +[05/27 08:04:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:04:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:04:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4712 +[05/27 08:04:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4712 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 08:04:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4712 +[05/27 08:04:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4712: 0/1 successful episodes +[05/27 08:04:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4793 (index 51/115) +[05/27 08:04:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4793 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:04:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 08:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_6 in scene +[05/27 08:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_6 in scene +Goal: place yellow handheld gps with blue screen next to shallow white square ceramic bowl +[2026-05-27 08:06:08,230] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:06:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:20:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4793 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_4 completed with success=False +[05/27 08:20:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4793: 1 episodes +[05/27 08:20:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:20:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:20:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4793 +[05/27 08:20:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4793 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 08:20:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4793 +[05/27 08:20:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4793: 0/1 successful episodes +[05/27 08:20:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4870 (index 52/115) +[05/27 08:20:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4870 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:20:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place orange futuristic spacecraft with wings next to shallow wide gray ceramic bowl +[2026-05-27 08:21:30,479] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:22:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:33:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4870 episode 0 object objatoyspacecraft_5397fb2487734503a9819b448abf14c9_1_0_8 completed with success=False +[05/27 08:33:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4870: 1 episodes +[05/27 08:33:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:33:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:33:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4870 +[05/27 08:33:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4870 in 2.89s (batch: 2.79s, save: 0.09s) +[05/27 08:33:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4870 +[05/27 08:33:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4870: 0/1 successful episodes +[05/27 08:33:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4957 (index 53/115) +[05/27 08:33:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:33:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 08:34:09 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_3 in scene +[05/27 08:34:09 Worker 0 WARNING object_manager.py:1238] Could not find object vase_61e70bb516f7e79bff61fcd075396cae_1_0_3 in scene +Goal: place textured black yellow screwdriver next to green spherical lettuce +[2026-05-27 08:35:11,998] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:35:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:52:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4957 episode 0 object objascrewdriver_215ef6cbb3de40e2ab420f4332534bd9_1_0_2 completed with success=False +[05/27 08:52:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4957: 1 episodes +[05/27 08:52:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:52:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:52:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4957 +[05/27 08:52:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4957 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 08:52:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4957 +[05/27 08:52:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4957: 0/1 successful episodes +[05/27 08:52:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5050 (index 54/115) +[05/27 08:52:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5050 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 08:52:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +Goal: place black lightning trophy with base next to potato +[2026-05-27 08:54:06,560] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:09:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5050 episode 0 object objaaward_767baba2ef7145d188ab5437730b76ff_1_0_2 completed with success=False +[05/27 09:09:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5050: 1 episodes +[05/27 09:09:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:09:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:09:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5050 +[05/27 09:09:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5050 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 09:09:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5050 +[05/27 09:09:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5050: 0/1 successful episodes +[05/27 09:09:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5145 (index 55/115) +[05/27 09:09:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5145 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:09:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 09:10:01 Worker 0 WARNING object_manager.py:1238] Could not find object objatoy_3ca98f6caabd4c99960dc076fd759ab1_1_0_6 in scene +[05/27 09:10:01 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_6c30212de15b89322c74efcd143a7fbb_1_0_6 in scene +Goal: place brown wooden handle screwdriver next to sleek dark rectangular phone +[2026-05-27 09:11:04,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:11:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:22:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 5145 episode 0 object objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_7 completed with success=False +[05/27 09:22:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5145: 1 episodes +[05/27 09:22:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:22:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:22:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5145 +[05/27 09:22:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5145 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 09:22:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5145 +[05/27 09:22:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5145: 0/1 successful episodes +[05/27 09:22:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5200 (index 56/115) +[05/27 09:22:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:22:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5 in scene +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place blue star mold next to large red tomato +[2026-05-27 09:24:16,085] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:24:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:35:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5200 episode 0 object objamold_225720a070c046dba53c77e9a0a7716f_1_0_6 completed with success=False +[05/27 09:35:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5200: 1 episodes +[05/27 09:35:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:35:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:35:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5200 +[05/27 09:35:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5200 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 09:35:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5200 +[05/27 09:35:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5200: 0/1 successful episodes +[05/27 09:35:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5342 (index 57/115) +[05/27 09:35:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5342 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:35:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place red pagoda pop-up card next to vintage film projector with leather +[2026-05-27 09:38:56,911] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:39:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:48:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 5342 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7 completed with success=False +[05/27 09:48:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5342: 1 episodes +[05/27 09:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:48:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5342 +[05/27 09:48:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5342 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 09:48:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5342 +[05/27 09:48:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5342: 0/1 successful episodes +[05/27 09:48:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5453 (index 58/115) +[05/27 09:48:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 09:48:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 09:48:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene +[05/27 09:48:51 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place green cucumber next to blue patterned bowl +[2026-05-27 09:49:54,167] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:50:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:05:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5453 episode 0 object objacucumber_e1429326fa5449348f0e0693f44b4b7b_1_0_2 completed with success=False +[05/27 10:05:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5453: 1 episodes +[05/27 10:05:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:05:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:05:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5453 +[05/27 10:05:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5453 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 10:05:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5453 +[05/27 10:05:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5453: 0/1 successful episodes +[05/27 10:05:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5543 (index 59/115) +[05/27 10:05:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:05:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place decorative wooden hatchet next to moka pot +[2026-05-27 10:06:24,949] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:07:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:15:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5543 episode 0 object objahatchet_0dfc7c5654e945daac9bd0ab195b24ee_1_0_6 completed with success=False +[05/27 10:15:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5543: 1 episodes +[05/27 10:15:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:15:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:15:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5543 +[05/27 10:15:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5543 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 10:15:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5543 +[05/27 10:15:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5543: 0/1 successful episodes +[05/27 10:15:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5606 (index 60/115) +[05/27 10:15:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5606 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:15:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/27 10:16:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_9 in scene +Goal: place mechanical device next to rectangular dark gray tufted pillow +[2026-05-27 10:17:23,444] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:19:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5606 episode 0 object objabicyclepump_283379c9c7c9422c8a0c5213c827723f_1_0_3 completed with success=False +[05/27 10:19:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5606: 1 episodes +[05/27 10:19:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:19:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:19:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5606 +[05/27 10:19:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5606 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 10:19:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5606 +[05/27 10:19:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5606: 0/1 successful episodes +[05/27 10:19:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5666 (index 61/115) +[05/27 10:19:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5666 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:19:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/27 10:20:39 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_8 in scene +Goal: place orange circular emblem with blue next to stopwatch +[2026-05-27 10:21:43,138] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:42:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5666 episode 0 object objadecorativeemblem_72eedb60542841c0a11d429d19854814_1_0_5 completed with success=False +[05/27 10:42:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5666: 1 episodes +[05/27 10:42:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:42:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:42:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5666 +[05/27 10:42:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5666 in 2.77s (batch: 2.67s, save: 0.09s) +[05/27 10:42:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5666 +[05/27 10:42:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5666: 0/1 successful episodes +[05/27 10:42:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5770 (index 62/115) +[05/27 10:42:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5770 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:42:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place large gray cylindrical metal bolt next to rectangular color calibration chart with colors +[2026-05-27 10:43:27,012] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:43:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:51:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5770 episode 0 object objabolt_2ccd6566b5714c5da3b61d3682ec64ac_1_0_2 completed with success=False +[05/27 10:51:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5770: 1 episodes +[05/27 10:51:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:51:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:51:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5770 +[05/27 10:51:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5770 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 10:51:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5770 +[05/27 10:51:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5770: 0/1 successful episodes +[05/27 10:51:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5896 (index 63/115) +[05/27 10:51:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 10:51:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 10:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_3 in scene +[05/27 10:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_3 in scene +Goal: place sleek dark rectangular phone next to vintage black ricoh kr-5 camera +[2026-05-27 10:52:18,272] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:52:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:00:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5896 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2 completed with success=False +[05/27 11:00:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5896: 1 episodes +[05/27 11:00:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:00:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:00:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5896 +[05/27 11:00:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5896 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 11:00:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5896 +[05/27 11:00:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5896: 0/1 successful episodes +[05/27 11:00:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5923 (index 64/115) +[05/27 11:00:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:00:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place shiny gold brown fish sculpture next to pizza slice with crust +[2026-05-27 11:01:44,387] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:12:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 5923 episode 0 object objadecorativefishsculpture_cc5426d3090c4047a1e4d5aa38c95d7a_1_0_2 completed with success=False +[05/27 11:12:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5923: 1 episodes +[05/27 11:12:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:12:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:12:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5923 +[05/27 11:12:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5923 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 11:12:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5923 +[05/27 11:12:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5923: 0/1 successful episodes +[05/27 11:12:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6057 (index 65/115) +[05/27 11:12:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:12:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place light brown cylindrical fabric spool next to metal bolt +[2026-05-27 11:13:46,511] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:14:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:25:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 6057 episode 0 object objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_8 completed with success=False +[05/27 11:25:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6057: 1 episodes +[05/27 11:25:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:25:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:25:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6057 +[05/27 11:25:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6057 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 11:25:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6057 +[05/27 11:25:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6057: 0/1 successful episodes +[05/27 11:25:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6120 (index 66/115) +[05/27 11:25:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6120 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:25:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place sharpening steel next to brown tortoise model with shell +[2026-05-27 11:27:02,457] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:27:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:39:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 6120 episode 0 object objasharpeningsteel_18b40f98bcfa4fee84425784f7b0d482_1_0_8 completed with success=False +[05/27 11:39:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6120: 1 episodes +[05/27 11:39:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:39:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:39:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6120 +[05/27 11:39:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6120 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 11:39:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6120 +[05/27 11:39:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6120: 0/1 successful episodes +[05/27 11:39:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6204 (index 67/115) +[05/27 11:39:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6204 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 11:39:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place rustic brown dish next to bulbous shiny gold metallic vase +[2026-05-27 11:40:40,371] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:02:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 6204 episode 0 object objadish_59f077a37f3e4a369b488209046e5aeb_1_0_2 completed with success=False +[05/27 12:02:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6204: 1 episodes +[05/27 12:02:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:02:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:02:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6204 +[05/27 12:02:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6204 in 2.49s (batch: 2.41s, save: 0.09s) +[05/27 12:02:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6204 +[05/27 12:02:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6204: 0/1 successful episodes +[05/27 12:02:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6213 (index 68/115) +[05/27 12:02:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6213 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 12:02:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 12:02:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_e8bfe8a8bc294c9e9b03b03f1e40ee43_1_0_9 in scene +[05/27 12:02:37 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene +Goal: place insect next to insect +[2026-05-27 12:03:39,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:21:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6213 episode 0 object objainsectsculpture_dd195f6a3aed4a5da766b29e3ad14a2d_2_0_2 completed with success=False +[05/27 12:21:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 12:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_e8bfe8a8bc294c9e9b03b03f1e40ee43_1_0_9 in scene +[05/27 12:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene +Goal: place blue milk carton with red logo next to model starship +[2026-05-27 12:22:20,628] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:22:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:39:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 6213 episode 1 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_3 completed with success=False +[05/27 12:39:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6213: 2 episodes +[05/27 12:39:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:40:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:40:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:40:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:40:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6213 +[05/27 12:40:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6213 in 5.52s (batch: 5.35s, save: 0.17s) +[05/27 12:40:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6213 +[05/27 12:40:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6213: 0/2 successful episodes +[05/27 12:40:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6257 (index 69/115) +[05/27 12:40:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6257 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 12:40:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place wrench next to stylized yellow vintage cartoon van +[2026-05-27 12:41:41,579] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:42:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:52:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 6257 episode 0 object objaadjustablewrench_5bbc755b07924fcba6ccd702191f90df_1_0_6 completed with success=False +[05/27 12:52:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6257: 1 episodes +[05/27 12:52:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:52:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:52:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6257 +[05/27 12:52:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6257 in 2.57s (batch: 2.47s, save: 0.09s) +[05/27 12:52:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6257 +[05/27 12:52:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6257: 0/1 successful episodes +[05/27 12:52:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6302 (index 70/115) +[05/27 12:52:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6302 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 12:52:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place primitive tool next to miniature windmill +[2026-05-27 12:53:34,363] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:54:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:05:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6302 episode 0 object objaprimitivetool_4dfb6ac9b577431783a05825f9ffd8ff_1_0_9 completed with success=False +[05/27 13:05:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6302: 1 episodes +[05/27 13:05:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:05:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:05:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6302 +[05/27 13:05:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6302 in 2.46s (batch: 2.38s, save: 0.09s) +[05/27 13:05:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6302 +[05/27 13:05:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6302: 0/1 successful episodes +[05/27 13:05:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6385 (index 71/115) +[05/27 13:05:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:05:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place solid blue arrow with white outline next to geometric blue butterfly +[2026-05-27 13:07:16,225] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:07:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:09:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 6385 episode 0 object objadecorativearrow_f38febed165240b9aea5289c215c6b65_1_0_7 completed with success=False +[05/27 13:09:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6385: 1 episodes +[05/27 13:09:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:09:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:09:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6385 +[05/27 13:09:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6385 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 13:09:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6385 +[05/27 13:09:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6385: 0/1 successful episodes +[05/27 13:09:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6452 (index 72/115) +[05/27 13:09:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6452 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:09:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 13:09:36 Worker 0 WARNING object_manager.py:1238] Could not find object objasymbol_06feafda2e414e45bb709f7be46a1c00_1_0_8 in scene +[05/27 13:09:36 Worker 0 WARNING object_manager.py:1238] Could not find object vase_6036f2984fad087344d3e0313b088eaf_1_0_8 in scene +Goal: place oval avocado with bumpy green skin next to blue soap bottle with orange pump +[2026-05-27 13:10:42,392] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:11:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:12:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6452 episode 0 object objaavocado_cb72a029445445e4a9fb6cc76715d11d_1_0_8 completed with success=False +[05/27 13:12:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6452: 1 episodes +[05/27 13:12:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:12:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:12:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6452 +[05/27 13:12:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6452 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 13:12:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6452 +[05/27 13:12:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6452: 0/1 successful episodes +[05/27 13:12:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6543 (index 73/115) +[05/27 13:12:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:12:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object objahinge_1ffa7463a95647c5bc8c07359ff161ae_1_0_8 in scene +[05/27 13:12:50 Worker 0 WARNING object_manager.py:1238] Could not find object objahinge_4587c40e36704e7a96ffebad95028160_2_0_8 in scene +Goal: place metal chain next to table lamp +[2026-05-27 13:13:54,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:14:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:30:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 6543 episode 0 object objachain_f3ab69afeb0b49518318a2263f17564e_1_0_4 completed with success=False +[05/27 13:30:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6543: 1 episodes +[05/27 13:30:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:30:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:30:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6543 +[05/27 13:30:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6543 in 2.79s (batch: 2.69s, save: 0.09s) +[05/27 13:30:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6543 +[05/27 13:30:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6543: 0/1 successful episodes +[05/27 13:30:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6698 (index 74/115) +[05/27 13:30:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:30:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place red locomotive next to smooth rounded ceramic bowl +[2026-05-27 13:31:25,399] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:31:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:45:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6698 episode 0 object objatrainmodel_3463948e9b03463e8968dbdd11a5d745_1_0_4 completed with success=False +[05/27 13:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6698: 1 episodes +[05/27 13:45:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:45:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6698 +[05/27 13:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6698 in 2.97s (batch: 2.87s, save: 0.10s) +[05/27 13:45:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6698 +[05/27 13:45:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6698: 0/1 successful episodes +[05/27 13:45:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6766 (index 75/115) +[05/27 13:45:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:45:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place glossy chocolate cake bar wrapper next to dark matte cup with grooves +[2026-05-27 13:47:08,325] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:47:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:56:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 6766 episode 0 object objapackagedfood_5ceecc4773b845a5b9addfa0f324f159_1_0_6 completed with success=False +[05/27 13:56:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6766: 1 episodes +[05/27 13:56:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:56:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:56:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6766 +[05/27 13:56:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6766 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 13:56:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6766 +[05/27 13:56:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6766: 0/1 successful episodes +[05/27 13:56:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6884 (index 76/115) +[05/27 13:56:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 13:56:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place yellow handheld gps next to coffee machine +[2026-05-27 13:57:46,134] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:58:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:07:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 6884 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_2_0_6 completed with success=False +[05/27 14:07:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6884: 1 episodes +[05/27 14:07:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:07:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:07:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6884 +[05/27 14:07:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6884 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 14:07:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6884 +[05/27 14:07:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6884: 0/1 successful episodes +[05/27 14:07:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6941 (index 77/115) +[05/27 14:07:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6941 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:07:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place dark metal axe next to smooth light brown egg +[2026-05-27 14:08:48,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:09:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 6941 episode 0 object objahandaxe_be5b9e7c2bac495fb4494b89c2e3e915_1_0_6 completed with success=False +[05/27 14:18:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6941: 1 episodes +[05/27 14:18:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:18:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:18:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6941 +[05/27 14:18:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6941 in 2.39s (batch: 2.31s, save: 0.09s) +[05/27 14:18:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6941 +[05/27 14:18:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6941: 0/1 successful episodes +[05/27 14:18:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7013 (index 78/115) +[05/27 14:18:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:18:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 14:18:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place vintage beige minerva stopwatch with figure next to light blue labeled cleaning bottle +[2026-05-27 14:19:34,701] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:36:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 7013 episode 0 object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 completed with success=False +[05/27 14:36:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7013: 1 episodes +[05/27 14:36:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:36:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:36:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7013 +[05/27 14:36:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7013 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 14:36:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7013 +[05/27 14:36:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7013: 0/1 successful episodes +[05/27 14:36:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7076 (index 79/115) +[05/27 14:36:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7076 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:36:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place handheldscanner next to rusty spray paint can with blue +[2026-05-27 14:38:01,185] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:49:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 7076 episode 0 object objahandheldscanner_4768cdc427e249a2aea0124a54608f1f_1_0_4 completed with success=False +[05/27 14:49:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7076: 1 episodes +[05/27 14:49:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:49:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:49:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7076 +[05/27 14:49:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7076 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 14:49:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7076 +[05/27 14:49:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7076: 0/1 successful episodes +[05/27 14:49:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7172 (index 80/115) +[05/27 14:49:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7172 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 14:49:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place beige stone next to plate +[2026-05-27 14:50:42,831] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:51:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:01:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 7172 episode 0 object objastone_913f6a32c94043f9892baabc13025e7a_1_0_7 completed with success=False +[05/27 15:01:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7172: 1 episodes +[05/27 15:01:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7172 +[05/27 15:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7172 in 2.54s (batch: 2.45s, save: 0.09s) +[05/27 15:01:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7172 +[05/27 15:01:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7172: 0/1 successful episodes +[05/27 15:01:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7281 (index 81/115) +[05/27 15:01:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:01:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 15:02:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_94d0e225581b4db48da241b36d1be05b_1_0_5 in scene +Goal: place green snail with large brown shell next to bulbous shiny gold vase +[2026-05-27 15:03:13,022] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:03:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:16:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 7281 episode 0 object objasnailsculpture_cc5307e5737f4db4ab09caeaeb07a6e7_1_0_4 completed with success=False +[05/27 15:16:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7281: 1 episodes +[05/27 15:16:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:16:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:16:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7281 +[05/27 15:16:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7281 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 15:16:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7281 +[05/27 15:16:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7281: 0/1 successful episodes +[05/27 15:16:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7343 (index 82/115) +[05/27 15:16:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7343 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:16:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place instrumentation next to classic blue and white camper van +[2026-05-27 15:17:25,635] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:18:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:31:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 7343 episode 0 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_4 completed with success=False +[05/27 15:31:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7343: 1 episodes +[05/27 15:31:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:31:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:31:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7343 +[05/27 15:31:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7343 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 15:31:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7343 +[05/27 15:31:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7343: 0/1 successful episodes +[05/27 15:31:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7377 (index 83/115) +[05/27 15:31:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7377 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:31:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[05/27 15:32:00 Worker 0 WARNING object_manager.py:1238] Could not find object objacrocodileskullreplica_3d87992f50434bfb8d762bd2a3d41994_1_0_2 in scene +[05/27 15:32:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadriftwood_df264661bdfb4e4a914988796df10d2f_1_0_2 in scene +[05/27 15:32:00 Worker 0 WARNING object_manager.py:1238] Could not find object vase_4686c3634f3334d6f28ba73fcd509a72_1_0_2 in scene +Goal: place red bowtie with white polka dots next to glossy brown goblet cup +[2026-05-27 15:33:03,615] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:33:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:42:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 7377 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False +[05/27 15:42:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7377: 1 episodes +[05/27 15:42:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:42:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:42:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7377 +[05/27 15:42:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7377 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 15:42:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7377 +[05/27 15:42:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7377: 0/1 successful episodes +[05/27 15:42:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7449 (index 84/115) +[05/27 15:42:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7449 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:42:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place medium brown rough potato with imperfections next to bulbous shiny gold metallic vase +[2026-05-27 15:43:53,750] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:44:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:51:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 7449 episode 0 object Irishpotato_97ed5203740bb4947ae92dcbf36ae46c_1_0_2 completed with success=False +[05/27 15:51:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7449: 1 episodes +[05/27 15:51:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:51:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:51:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7449 +[05/27 15:51:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7449 in 2.91s (batch: 2.81s, save: 0.10s) +[05/27 15:51:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7449 +[05/27 15:51:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7449: 0/1 successful episodes +[05/27 15:51:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7506 (index 85/115) +[05/27 15:51:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7506 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 15:51:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place red ninja patch next to black mask +[2026-05-27 15:52:15,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:52:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:02:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 7506 episode 0 object objapatch_0d3e057f882d4d2093e7dbed9fd26a31_1_0_7 completed with success=False +[05/27 16:02:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7506: 1 episodes +[05/27 16:02:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:02:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:02:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7506 +[05/27 16:02:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7506 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 16:02:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7506 +[05/27 16:02:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7506: 0/1 successful episodes +[05/27 16:02:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7641 (index 86/115) +[05/27 16:02:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7641 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:02:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 16:03:16 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_394b22755d3368fb51669bf48bdfea21_1_0_2 in scene +[05/27 16:03:16 Worker 0 WARNING object_manager.py:1238] Could not find object objametalartifact_c98d18777e2640379f8f697975068cdf_1_0_5 in scene +[05/27 16:03:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_f4035bcaf9094e34afb664c872233c1c_1_0_5 in scene +Goal: place cornermolding next to miniature tree with lush green leaves +[2026-05-27 16:04:21,239] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:24:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 7641 episode 0 object objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_4 completed with success=False +[05/27 16:24:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7641: 1 episodes +[05/27 16:24:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:24:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:24:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7641 +[05/27 16:24:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7641 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 16:24:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7641 +[05/27 16:24:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7641: 0/1 successful episodes +[05/27 16:24:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7755 (index 87/115) +[05/27 16:24:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:24:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place hexagonal metallic light projector next to black hardcover book with orange text +[2026-05-27 16:25:50,299] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:26:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:32:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 7755 episode 0 object objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_1_0_3 completed with success=False +[05/27 16:32:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7755: 1 episodes +[05/27 16:32:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:32:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:32:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7755 +[05/27 16:32:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7755 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 16:32:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7755 +[05/27 16:32:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7755: 0/1 successful episodes +[05/27 16:32:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7847 (index 88/115) +[05/27 16:32:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7847 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:32:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place dark metal container with label next to golden yellow apple with stem +[2026-05-27 16:33:56,576] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:34:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:47:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 7847 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_3_0_2 completed with success=False +[05/27 16:47:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7847: 1 episodes +[05/27 16:47:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:47:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:47:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7847 +[05/27 16:47:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7847 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 16:47:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7847 +[05/27 16:47:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7847: 0/1 successful episodes +[05/27 16:47:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7933 (index 89/115) +[05/27 16:47:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:47:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place instrumentation next to black rectangular network switch +[2026-05-27 16:49:01,480] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:49:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:58:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 7933 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_9 completed with success=False +[05/27 16:58:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7933: 1 episodes +[05/27 16:58:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:58:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:58:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7933 +[05/27 16:58:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7933 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 16:58:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7933 +[05/27 16:58:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7933: 0/1 successful episodes +[05/27 16:58:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8019 (index 90/115) +[05/27 16:58:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 16:58:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place silencer next to metal lamp +[2026-05-27 17:00:02,942] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:00:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:14:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 8019 episode 0 object objasuppressor_4d9a44997f514c8da02d3a6be9b9648b_1_0_6 completed with success=False +[05/27 17:14:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8019: 1 episodes +[05/27 17:14:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:14:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:14:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8019 +[05/27 17:14:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8019 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 17:14:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8019 +[05/27 17:14:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8019: 0/1 successful episodes +[05/27 17:14:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8115 (index 91/115) +[05/27 17:14:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 17:14:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place blue calendar with mountains next to metallic burgundy toaster +[2026-05-27 17:15:54,269] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 8115 episode 0 object objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_1_0_8 completed with success=False +[05/27 17:31:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8115: 1 episodes +[05/27 17:31:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:31:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:31:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8115 +[05/27 17:31:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8115 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 17:31:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8115 +[05/27 17:31:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8115: 0/1 successful episodes +[05/27 17:31:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8221 (index 92/115) +[05/27 17:31:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 17:31:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place primitive stone axe with wooden handle next to shiny gold vase +[2026-05-27 17:32:50,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:33:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:49:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8221 episode 0 object objastoneaxe_c6677888b7944b9295ed73a1061d448f_1_0_9 completed with success=False +[05/27 17:49:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8221: 1 episodes +[05/27 17:49:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:49:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:49:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8221 +[05/27 17:49:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8221 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 17:49:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8221 +[05/27 17:49:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8221: 0/1 successful episodes +[05/27 17:49:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8264 (index 93/115) +[05/27 17:49:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8264 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 17:49:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place light gray origami crane next to light gray origami paper crane +[2026-05-27 17:50:23,993] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:02:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 8264 episode 0 object objaorigamicrane_1b852180c77842c2867a9ff0a4959f2e_1_0_4 completed with success=False +[05/27 18:02:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8264: 1 episodes +[05/27 18:02:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:02:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:02:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8264 +[05/27 18:02:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8264 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 18:02:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8264 +[05/27 18:02:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8264: 0/1 successful episodes +[05/27 18:02:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8278 (index 94/115) +[05/27 18:02:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 8278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:02:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place rectangular metallic keypad with buttons next to gray ankle boot +[2026-05-27 18:03:57,912] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:13:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 8278 episode 0 object objakeypad_7994d3067a554e4dab14e88af242f174_1_0_7 completed with success=False +[05/27 18:13:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place blue gold beaded bottle next to metallic blue toaster +[2026-05-27 18:14:19,307] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:23:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 8278 episode 1 object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 completed with success=False +[05/27 18:23:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8278: 2 episodes +[05/27 18:23:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:23:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:23:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:23:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:23:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8278 +[05/27 18:23:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8278 in 5.63s (batch: 5.45s, save: 0.18s) +[05/27 18:23:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8278 +[05/27 18:23:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8278: 0/2 successful episodes +[05/27 18:23:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8373 (index 95/115) +[05/27 18:23:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8373 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:23:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 18:24:11 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 in scene +[05/27 18:24:11 Worker 0 WARNING object_manager.py:1238] Could not find object objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_7 in scene +[05/27 18:24:11 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_7 in scene +Goal: place turquoise spray bottle next to smooth reflective silver vase +[2026-05-27 18:25:15,859] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:25:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:39:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 8373 episode 0 object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_8 completed with success=False +[05/27 18:39:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8373: 1 episodes +[05/27 18:39:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:40:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8373 +[05/27 18:40:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8373 in 2.50s (batch: 2.40s, save: 0.09s) +[05/27 18:40:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8373 +[05/27 18:40:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8373: 0/1 successful episodes +[05/27 18:40:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8410 (index 96/115) +[05/27 18:40:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8410 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:40:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 18:40:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place old rusted circular metal ring next to colorful blocky toy ship with propeller +[2026-05-27 18:41:16,890] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:41:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:52:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 8410 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7 completed with success=False +[05/27 18:52:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8410: 1 episodes +[05/27 18:52:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:52:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:52:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8410 +[05/27 18:52:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8410 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 18:52:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8410 +[05/27 18:52:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8410: 0/1 successful episodes +[05/27 18:52:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8495 (index 97/115) +[05/27 18:52:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 18:52:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place curved track next to medium cardboard box with flaps +[2026-05-27 18:53:53,743] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:54:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:00:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8495 episode 0 object objamodeltraintrack_823d9a0dfeea4d348bb75ecbe96b372a_1_0_7 completed with success=False +[05/27 19:00:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8495: 1 episodes +[05/27 19:00:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:00:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:00:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8495 +[05/27 19:00:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8495 in 2.69s (batch: 2.59s, save: 0.09s) +[05/27 19:00:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8495 +[05/27 19:00:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8495: 0/1 successful episodes +[05/27 19:00:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8625 (index 98/115) +[05/27 19:00:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:00:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place root vegetable next to medium round red tomato with stem +[2026-05-27 19:01:27,286] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:01:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:06:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 8625 episode 0 object Irishpotato_98dee472f1cf0a95c9fbc734935c5ea3_1_0_2 completed with success=False +[05/27 19:06:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8625: 1 episodes +[05/27 19:06:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:06:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:06:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8625 +[05/27 19:06:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8625 in 2.56s (batch: 2.47s, save: 0.09s) +[05/27 19:06:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8625 +[05/27 19:06:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8625: 0/1 successful episodes +[05/27 19:06:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8697 (index 99/115) +[05/27 19:06:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8697 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:06:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place miniature traffic light with striped pole next to gray spray bottle +[2026-05-27 19:07:59,958] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:08:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:18:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 8697 episode 0 object objaminiaturetrafficlight_51e10b3176ed4554bcc5ce306f8de3ee_1_0_6 completed with success=False +[05/27 19:18:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8697: 1 episodes +[05/27 19:18:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:18:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:18:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8697 +[05/27 19:18:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8697 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 19:18:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8697 +[05/27 19:18:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8697: 0/1 successful episodes +[05/27 19:18:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8794 (index 100/115) +[05/27 19:18:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8794 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:18:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place paintbrush with wooden handle next to semi-translucent flat white vase +[2026-05-27 19:20:00,734] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:29:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 8794 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_2 completed with success=False +[05/27 19:30:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8794: 1 episodes +[05/27 19:30:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:30:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:30:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8794 +[05/27 19:30:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8794 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 19:30:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8794 +[05/27 19:30:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8794: 0/1 successful episodes +[05/27 19:30:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8872 (index 101/115) +[05/27 19:30:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8872 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:30:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place tall teal product box next to yellow lyre +[2026-05-27 19:31:17,575] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:31:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:41:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 8872 episode 0 object objaproductpackaging_54e8b05815804d33b3322a500b97b1e4_1_0_7 completed with success=False +[05/27 19:41:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8872: 1 episodes +[05/27 19:41:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:41:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:41:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8872 +[05/27 19:41:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8872 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 19:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8872 +[05/27 19:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8872: 0/1 successful episodes +[05/27 19:41:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8933 (index 102/115) +[05/27 19:41:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 19:41:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 19:42:17 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_6 in scene +Goal: place small black trafficlight next to medium brown cardboard storage box +[2026-05-27 19:43:22,157] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:43:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:00:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8933 episode 0 object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4 completed with success=False +[05/27 20:00:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8933: 1 episodes +[05/27 20:00:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:00:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:00:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8933 +[05/27 20:00:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8933 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 20:00:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8933 +[05/27 20:00:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8933: 0/1 successful episodes +[05/27 20:00:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9017 (index 103/115) +[05/27 20:00:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9017 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:00:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 20:00:33 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemarker_162fba8901ea4ce5894d8b0916d802b4_1_0_5 in scene +[05/27 20:00:33 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemarker_162fba8901ea4ce5894d8b0916d802b4_2_0_5 in scene +[05/27 20:00:33 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeartifact_b1b4c89f78cf4dbda524100885eab273_1_0_5 in scene +Goal: place metal lid next to rugged brown and reddish textured rock +[2026-05-27 20:01:37,288] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:02:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:13:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 9017 episode 0 object objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8 completed with success=False +[05/27 20:13:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9017: 1 episodes +[05/27 20:13:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:13:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:13:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9017 +[05/27 20:13:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9017 in 2.77s (batch: 2.68s, save: 0.10s) +[05/27 20:13:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9017 +[05/27 20:13:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9017: 0/1 successful episodes +[05/27 20:13:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9073 (index 104/115) +[05/27 20:13:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9073 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:13:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place chirography next to white spherical model with label +[2026-05-27 20:14:49,194] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:26:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9073 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_7 completed with success=False +[05/27 20:26:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9073: 1 episodes +[05/27 20:26:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:26:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:26:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9073 +[05/27 20:26:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9073 in 2.44s (batch: 2.34s, save: 0.09s) +[05/27 20:26:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9073 +[05/27 20:26:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9073: 0/1 successful episodes +[05/27 20:26:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9142 (index 105/115) +[05/27 20:26:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:26:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place black rails with sleepers next to sleek slim dark phone with camera +[2026-05-27 20:27:50,426] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:28:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:42:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 9142 episode 0 object objamodeltraintrack_7d23228e7f8a4ae590324697eb36392b_1_0_9 completed with success=False +[05/27 20:42:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9142: 1 episodes +[05/27 20:42:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:42:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:42:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9142 +[05/27 20:42:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9142 in 2.55s (batch: 2.45s, save: 0.10s) +[05/27 20:42:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9142 +[05/27 20:42:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9142: 0/1 successful episodes +[05/27 20:42:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9221 (index 106/115) +[05/27 20:42:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 20:42:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 20:43:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_5 in scene +Goal: place purple striped paper roll next to round olive ceramic plate with scallops +[2026-05-27 20:44:47,178] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:01:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 9221 episode 0 object objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_3 completed with success=False +[05/27 21:01:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9221: 1 episodes +[05/27 21:01:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:01:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:01:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9221 +[05/27 21:01:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9221 in 2.91s (batch: 2.81s, save: 0.09s) +[05/27 21:01:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9221 +[05/27 21:01:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9221: 0/1 successful episodes +[05/27 21:01:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9297 (index 107/115) +[05/27 21:01:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9297 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:01:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place sleek black digital camera with lens next to tall dark cylindrical column +[2026-05-27 21:03:18,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:03:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:10:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 9297 episode 0 object objadigitalcamera_904be230d5ac43a6a9604abc946febc7_1_0_2 completed with success=False +[05/27 21:10:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9297: 1 episodes +[05/27 21:10:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:10:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:10:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9297 +[05/27 21:10:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9297 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 21:10:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9297 +[05/27 21:10:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9297: 0/1 successful episodes +[05/27 21:10:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9414 (index 108/115) +[05/27 21:10:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9414 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:10:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place primitive stone axe with wooden handle next to lighthouse +[2026-05-27 21:11:54,738] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:12:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:29:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 9414 episode 0 object objastoneaxe_bdf39735db194dcbb8ed79d340be699c_1_0_7 completed with success=False +[05/27 21:29:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9414: 1 episodes +[05/27 21:29:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:29:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:29:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9414 +[05/27 21:29:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9414 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 21:29:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9414 +[05/27 21:29:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9414: 0/1 successful episodes +[05/27 21:29:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9492 (index 109/115) +[05/27 21:29:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:29:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place anchor ring next to means +[2026-05-27 21:31:02,770] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:31:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:50:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 9492 episode 0 object objaring_ec7ca19df70b4b9e9d56f2a2c91dc401_1_0_2 completed with success=False +[05/27 21:50:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9492: 1 episodes +[05/27 21:50:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:50:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:50:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9492 +[05/27 21:50:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9492 in 2.90s (batch: 2.80s, save: 0.10s) +[05/27 21:50:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9492 +[05/27 21:50:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9492: 0/1 successful episodes +[05/27 21:50:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9538 (index 110/115) +[05/27 21:50:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9538 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 21:50:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 21:50:47 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodenplaque_1a3b2169bb114128b8ec6c2c53f9dc37_1_0_6 in scene +Goal: place yellow bubble tea cup with straw next to cup +[2026-05-27 21:51:53,168] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:52:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:09:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 9538 episode 0 object objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_1_0_2 completed with success=False +[05/27 22:09:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9538: 1 episodes +[05/27 22:09:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:09:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:09:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9538 +[05/27 22:09:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9538 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 22:09:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9538 +[05/27 22:09:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9538: 0/1 successful episodes +[05/27 22:09:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9609 (index 111/115) +[05/27 22:09:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9609 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:09:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 22:09:22 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_e58a7a0c37cb0ef9c8155d56cc319ccf_1_0_6 in scene +Goal: place smooth white curved bone next to cupcake with cherry and wafer +[2026-05-27 22:10:26,329] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:10:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:20:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 9609 episode 0 object objareplica_c3fe6dddc4ab4d5d89923c6619805710_1_0_6 completed with success=False +[05/27 22:20:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9609: 1 episodes +[05/27 22:20:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:20:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:20:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9609 +[05/27 22:20:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9609 in 2.58s (batch: 2.49s, save: 0.09s) +[05/27 22:20:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9609 +[05/27 22:20:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9609: 0/1 successful episodes +[05/27 22:20:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9687 (index 112/115) +[05/27 22:20:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9687 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:20:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place polished metal door lock next to purple square pillow +[2026-05-27 22:22:03,732] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:39:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 9687 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_8 completed with success=False +[05/27 22:39:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9687: 1 episodes +[05/27 22:39:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:39:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:39:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9687 +[05/27 22:39:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9687 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 22:39:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9687 +[05/27 22:39:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9687: 0/1 successful episodes +[05/27 22:39:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9768 (index 113/115) +[05/27 22:39:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9768 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:39:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place green pliers next to white jawbone +[2026-05-27 22:41:20,216] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:41:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:53:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 9768 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2 completed with success=False +[05/27 22:53:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9768: 1 episodes +[05/27 22:53:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:53:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:53:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9768 +[05/27 22:53:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9768 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 22:53:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9768 +[05/27 22:53:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9768: 0/1 successful episodes +[05/27 22:53:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9939 (index 114/115) +[05/27 22:53:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 +[05/27 22:53:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place photoalbum next to miniature pink torii gate +[2026-05-27 22:55:35,432] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:56:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 23:12:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 9939 episode 0 object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2 completed with success=False +[05/27 23:12:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9939: 1 episodes +[05/27 23:12:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 23:12:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 23:12:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9939 +[05/27 23:12:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9939 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 23:12:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9939 +[05/27 23:12:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9939: 0/1 successful episodes +[05/27 23:12:36 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 23:12:36 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 23:12:36 INFO pipeline.py:1499] Success count: 1, Total count: 119 +[05/27 23:12:36 INFO pipeline.py:1500] Success rate: 0.84% +Combined 119 episodes from 115 files → /tmp/tmp3po3cno3.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv at-end: 0.84% | oracle: 0.84% of 119 episodes +[2026-05-27 23:12:49,606] INFO MolmoSpaces simulator eval finished: success=1/119 rate=0.0084 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval +[2026-05-27 23:12:49,606] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2612fea07f908d6978acc9e3f1a7f03e3f5422 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..2a59155261a0cd7066486d3a4093ea8c14bdb2d2 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/results.csv @@ -0,0 +1,117 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.371359,0.0 +latest,Candle,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,108.982493,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.030441,0.0 +latest,Irishpotato,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,118.135082,84.952749 +latest,Objaabstractfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.925881,0.0 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.095122,0.0 +latest,Objaartificialflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.609133,0.0 +latest,Objaastrolabe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.550102,0.0 +latest,Objaavocado,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.903619,0.0 +latest,Objaaward,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.70768,0.0 +latest,Objabacteriummodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.184846,0.0 +latest,Objabadge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.725339,0.0 +latest,Objabeveragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.227851,0.0 +latest,Objabicyclepump,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.110951,0.0 +latest,Objabolt,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.174798,0.0 +latest,Objabowlingpin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.492661,0.0 +latest,Objabowtie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.534818,0.0 +latest,Objabutterflyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.469288,0.0 +latest,Objacalculator,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.37332,0.0 +latest,Objacamcorder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.77496,0.0 +latest,Objacasing,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.613543,0.0 +latest,Objachain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.549578,0.0 +latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.144838,0.0 +latest,Objaclothespin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.153116,0.0 +latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.119242,0.0 +latest,Objacomputermouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.015644,0.0 +latest,Objacornermolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.55066,0.0 +latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.344719,0.0 +latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.114015,0.0 +latest,Objadecorativebottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.713832,0.0 +latest,Objadecorativecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.516158,0.0 +latest,Objadecorativecat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.637027,0.0 +latest,Objadecorativeemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.570041,0.0 +latest,Objadecorativefishsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.925735,0.0 +latest,Objadecorativemallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.282373,0.0 +latest,Objadecorativeplatform,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.017441,0.0 +latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.099086,0.0 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0000000000000000000000000000000000000000..66c326d9e4d64e7a5f1669dcdc421d6d432fd6b7 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/shard_05_results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/shard_05_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..2a59155261a0cd7066486d3a4093ea8c14bdb2d2 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/submission/shard_05_results.csv @@ -0,0 +1,117 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.371359,0.0 +latest,Candle,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,108.982493,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.030441,0.0 +latest,Irishpotato,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,118.135082,84.952749 +latest,Objaabstractfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.925881,0.0 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.095122,0.0 +latest,Objaartificialflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.609133,0.0 +latest,Objaastrolabe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.550102,0.0 +latest,Objaavocado,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.903619,0.0 +latest,Objaaward,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.70768,0.0 +latest,Objabacteriummodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.184846,0.0 +latest,Objabadge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.725339,0.0 +latest,Objabeveragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.227851,0.0 +latest,Objabicyclepump,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.110951,0.0 +latest,Objabolt,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.174798,0.0 +latest,Objabowlingpin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.492661,0.0 +latest,Objabowtie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.534818,0.0 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"success_rate": 0.008403361344537815, + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_05/eval/results.csv", + "csv_overall_row": { + "policy": "latest", + "category": "OVERALL", + "successes": 1, + "total": 119, + "success_rate_pct": 0.84, + "ci_95_low_pct": 0.2, + "ci_95_high_pct": 4.56, + "oracle_successes": 1, + "oracle_rate_pct": 0.84, + "oracle_ci_95_low_pct": 0.2, + "oracle_ci_95_high_pct": 4.56, + "jerk_joint_mean": 46.972367, + "jerk_joint_std": 34.65995 + }, + "preview_video": null, + "skip_compose_videos": true, + "skip_csv": false, + "composed_video_count": 0, + "composed_videos": {} +} \ No newline at end of file diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/run.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/run.log new file mode 100644 index 0000000000000000000000000000000000000000..ad578c5ca5c9c1e10cdcb9f33eeb00654af86cda --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/run.log @@ -0,0 +1,3712 @@ +[2026-05-26 19:43:51,412] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,414] INFO Using MuJoCo EGL device id: 6 +[2026-05-26 19:43:51,414] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,444] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 (source=arg) +[2026-05-26 19:43:53,273] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:03,489] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,279] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,754] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,183] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [573, + 621, + 683, + 729, + 781, + 866, + 928, + 1037, + 1165, + 1225, + 1320, + 1387, + 1502, + 1610, + 1729, + 1777, + 1902, + 1978, + 2039, + 2162, + 2266, + 2374, + 2475, + 2537, + 2678, + 2800, + 2873, + 2970, + 3062, + 3095, + 3208, + 3263, + 3300, + 3390, + 3450, + 3529, + 3635, + 3742, + 3790, + 3918, + 4041, + 4145, + 4216, + 4240, + 4291, + 4325, + 4400, + 4494, + 4622, + 4680, + 4716, + 4800, + 4872, + 4962, + 5067, + 5164, + 5203, + 5382, + 5459, + 5546, + 5612, + 5668, + 5773, + 5897, + 5928, + 6068, + 6143, + 6205, + 6269, + 6303, + 6391, + 6437, + 6469, + 6557, + 6705, + 6767, + 6903, + 6978, + 7015, + 7083, + 7174, + 7286, + 7346, + 7396, + 7453, + 7568, + 7668, + 7765, + 7856, + 7970, + 8056, + 8125, + 8224, + 8277, + 8386, + 8421, + 8428, + 8506, + 8627, + 8701, + 8795, + 8878, + 8950, + 9020, + 9080, + 9153, + 9228, + 9305, + 9420, + 9494, + 9541, + 9632, + 9710, + 9821, + 9940], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,189] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 573 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 573 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 19:48:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +Goal: place cream ceramic sugar bowl with handle next to transparent soap bottle with pump +2026-05-26 19:48:37.003 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:38,004] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:38,752] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:39,277] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:39,479] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:39,482] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 20:03:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 573 episode 0 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/26 20:03:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_573: 1 episodes +[05/26 20:03:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:03:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:03:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_573 +[05/26 20:03:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_573 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 20:03:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_573 +[05/26 20:03:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 573: 0/1 successful episodes +[05/26 20:03:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 621 (index 1/115) +[05/26 20:03:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 621 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:03:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place white ceramic teacup with handle next to ornate bronze faucet with curve +[2026-05-26 20:04:29,881] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:14:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 621 episode 0 object objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_6 completed with success=False +[05/26 20:14:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_621: 1 episodes +[05/26 20:14:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:14:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:14:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_621 +[05/26 20:14:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_621 in 2.36s (batch: 2.27s, save: 0.09s) +[05/26 20:14:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_621 +[05/26 20:14:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 621: 0/1 successful episodes +[05/26 20:14:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 683 (index 2/115) +[05/26 20:14:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 683 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:14:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place garlic next to green tool +[2026-05-26 20:15:24,294] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:15:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:21:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 683 episode 0 object objagarlic_4dd64ee00ff94f7488ff7793c74a8cdf_1_0_2 completed with success=False +[05/26 20:21:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_683: 1 episodes +[05/26 20:21:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:21:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:21:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_683 +[05/26 20:21:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_683 in 2.73s (batch: 2.65s, save: 0.09s) +[05/26 20:21:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_683 +[05/26 20:21:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 683: 0/1 successful episodes +[05/26 20:21:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 729 (index 3/115) +[05/26 20:21:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:21:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/26 20:22:01 Worker 0 WARNING object_manager.py:1238] Could not find object objatoycamera_8eff73b71375445a8ba75949d58bd3e0_1_0_6 in scene +Goal: place glossy red bell pepper next to smooth green apple +[2026-05-26 20:23:04,089] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:23:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:32:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 729 episode 0 object objabellpepper_9e344338f741427aa5c5809e04b8a979_1_0_6 completed with success=False +[05/26 20:32:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_729: 1 episodes +[05/26 20:32:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:32:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:32:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_729 +[05/26 20:32:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_729 in 2.39s (batch: 2.30s, save: 0.09s) +[05/26 20:32:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_729 +[05/26 20:32:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 729: 0/1 successful episodes +[05/26 20:32:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 781 (index 4/115) +[05/26 20:32:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:32:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 20:33:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place elongated metal finial with base next to brown poop emoji with smile +[2026-05-26 20:34:20,594] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:53:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 781 episode 0 object objafinial_4d7c210e36894fa489a2c4f2954531d9_1_0_3 completed with success=False +[05/26 20:53:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_781: 1 episodes +[05/26 20:53:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:53:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:53:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_781 +[05/26 20:53:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_781 in 2.81s (batch: 2.72s, save: 0.09s) +[05/26 20:53:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_781 +[05/26 20:53:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 781: 0/1 successful episodes +[05/26 20:53:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 866 (index 5/115) +[05/26 20:53:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 866 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:53:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place wooden pestle with jagged top next to transparent soap bottle with pump +[2026-05-26 20:55:01,542] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:55:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:02:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 866 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_2 completed with success=False +[05/26 21:02:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_866: 1 episodes +[05/26 21:02:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:02:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:02:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_866 +[05/26 21:02:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_866 in 2.77s (batch: 2.68s, save: 0.09s) +[05/26 21:02:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_866 +[05/26 21:02:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 866: 0/1 successful episodes +[05/26 21:02:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 928 (index 6/115) +[05/26 21:02:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:02:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +Goal: place wooden handle metal bell next to modern metal desk lamp +[2026-05-26 21:03:51,838] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:21:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 928 episode 0 object objahandbell_f020483b3c5949539fa4a3502fea05ad_1_0_6 completed with success=False +[05/26 21:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_928: 1 episodes +[05/26 21:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:21:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:21:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_928 +[05/26 21:21:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_928 in 2.34s (batch: 2.25s, save: 0.09s) +[05/26 21:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_928 +[05/26 21:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 928: 0/1 successful episodes +[05/26 21:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1037 (index 7/115) +[05/26 21:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1037 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place metal stake next to brown and blue compact alarm clock +[2026-05-26 21:22:50,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:23:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:38:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1037 episode 0 object objastake_b79cee771e604eec8845a1d74dbb417a_1_0_6 completed with success=False +[05/26 21:38:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1037: 1 episodes +[05/26 21:38:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:38:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:38:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1037 +[05/26 21:38:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1037 in 2.89s (batch: 2.80s, save: 0.09s) +[05/26 21:38:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1037 +[05/26 21:38:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1037: 0/1 successful episodes +[05/26 21:38:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1165 (index 8/115) +[05/26 21:38:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:38:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 21:38:45 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_7 in scene +Goal: place gray roller assembly with black frame next to green tree +[2026-05-26 21:39:47,354] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:40:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:53:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 1165 episode 0 object objarollerassembly_974c0781de924642a00b6c3e1c56462b_1_0_3 completed with success=False +[05/26 21:53:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1165: 1 episodes +[05/26 21:53:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:53:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1165 +[05/26 21:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1165 in 2.90s (batch: 2.81s, save: 0.10s) +[05/26 21:53:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1165 +[05/26 21:53:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1165: 0/1 successful episodes +[05/26 21:53:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1225 (index 9/115) +[05/26 21:53:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1225 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:53:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 21:54:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene +[05/26 21:54:31 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_3_0_9 in scene +Goal: place garlic next to chocolate nut ice cream +[2026-05-26 21:55:34,777] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:12:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 1225 episode 0 object objagarlic_4dd64ee00ff94f7488ff7793c74a8cdf_1_0_2 completed with success=False +[05/26 22:12:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1225: 1 episodes +[05/26 22:12:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:12:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:12:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1225 +[05/26 22:12:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1225 in 2.50s (batch: 2.41s, save: 0.09s) +[05/26 22:12:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1225 +[05/26 22:12:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1225: 0/1 successful episodes +[05/26 22:12:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1320 (index 10/115) +[05/26 22:12:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 22:12:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +Goal: place brown medium potato next to green cup with flared rim +[2026-05-26 22:14:51,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:15:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:33:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 1320 episode 0 object Irishpotato_4ccdc5ebde4d6fee07ff9eefb0b60cfb_1_0_2 completed with success=False +[05/26 22:33:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1320: 1 episodes +[05/26 22:33:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:33:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:33:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1320 +[05/26 22:33:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1320 in 2.85s (batch: 2.76s, save: 0.09s) +[05/26 22:33:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1320 +[05/26 22:33:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1320: 0/1 successful episodes +[05/26 22:33:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1387 (index 11/115) +[05/26 22:33:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 22:33:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place handheld tool next to bulbous shiny gold vase +[2026-05-26 22:35:28,023] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:52:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 1387 episode 0 object objahandheldtool_73568d0c5842467b973426acd033a47d_1_0_7 completed with success=False +[05/26 22:52:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1387: 1 episodes +[05/26 22:52:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:52:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:52:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1387 +[05/26 22:52:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1387 in 2.84s (batch: 2.74s, save: 0.09s) +[05/26 22:52:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1387 +[05/26 22:52:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1387: 0/1 successful episodes +[05/26 22:52:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1502 (index 12/115) +[05/26 22:52:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 22:52:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place long slender dark stick next to white molding with flowers +[2026-05-26 22:54:05,342] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:54:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:04:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 1502 episode 0 object objadecorativestick_bfc1cb3341914d5aa3f6633ef58b4106_1_0_6 completed with success=False +[05/26 23:04:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1502: 1 episodes +[05/26 23:04:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:04:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:04:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1502 +[05/26 23:04:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1502 in 2.30s (batch: 2.21s, save: 0.09s) +[05/26 23:04:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1502 +[05/26 23:04:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1502: 0/1 successful episodes +[05/26 23:04:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1610 (index 13/115) +[05/26 23:04:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:04:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place vintage metal calendar next to black submarine +[2026-05-26 23:06:25,383] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:13:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1610 episode 0 object objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_3 completed with success=False +[05/26 23:13:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1610: 1 episodes +[05/26 23:13:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:13:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:13:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1610 +[05/26 23:13:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1610 in 2.32s (batch: 2.23s, save: 0.09s) +[05/26 23:13:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1610 +[05/26 23:13:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1610: 0/1 successful episodes +[05/26 23:13:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1729 (index 14/115) +[05/26 23:13:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:13:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place sleek metallic juicer with legs next to soap bottle +[2026-05-26 23:14:46,007] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:15:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:25:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 1729 episode 0 object objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6 completed with success=False +[05/26 23:25:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1729: 1 episodes +[05/26 23:25:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:25:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:25:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1729 +[05/26 23:25:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1729 in 2.29s (batch: 2.20s, save: 0.09s) +[05/26 23:25:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1729 +[05/26 23:25:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1729: 0/1 successful episodes +[05/26 23:25:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1777 (index 15/115) +[05/26 23:25:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1777 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:25:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place moka pot next to glossy translucent cup with flared top +[2026-05-26 23:27:10,075] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:42:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 1777 episode 0 object objamokapot_8d83a1f7c94045b38e5c62fc4feecb0b_1_0_2 completed with success=False +[05/26 23:42:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1777: 1 episodes +[05/26 23:42:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:42:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:42:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1777 +[05/26 23:42:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1777 in 3.01s (batch: 2.92s, save: 0.09s) +[05/26 23:42:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1777 +[05/26 23:42:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1777: 0/1 successful episodes +[05/26 23:42:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1902 (index 16/115) +[05/26 23:42:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:42:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place tangled wire sphere next to glossy black dog statue sitting +[2026-05-26 23:45:05,744] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:59:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 1902 episode 0 object objawiresculpture_12c19793bbfa432ebbb8c920f01ac72d_2_0_3 completed with success=False +[05/26 23:59:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1902: 1 episodes +[05/26 23:59:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:59:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:59:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1902 +[05/26 23:59:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1902 in 2.80s (batch: 2.71s, save: 0.09s) +[05/26 23:59:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1902 +[05/26 23:59:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1902: 0/1 successful episodes +[05/26 23:59:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1978 (index 17/115) +[05/26 23:59:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:59:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 00:02:45 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_2_0_9 in scene +[05/27 00:02:45 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9 in scene +Goal: place flat brown h-shaped rectangular piece next to conical soap bottle with pump +[2026-05-27 00:03:47,776] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:23:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1978 episode 0 object objacomponent_5ca9a2c89480421592cd65b82d2a028b_1_0_2 completed with success=False +[05/27 00:23:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1978: 1 episodes +[05/27 00:23:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:23:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:23:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1978 +[05/27 00:23:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1978 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 00:23:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1978 +[05/27 00:23:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1978: 0/1 successful episodes +[05/27 00:23:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2039 (index 18/115) +[05/27 00:23:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2039 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:23:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place wooden stake topped with red gem next to bulbous shiny gold metallic vase +[2026-05-27 00:25:11,580] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:25:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:37:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 2039 episode 0 object objadecorativestake_f7da54612fcd4df18fc7db6392979318_1_0_4 completed with success=False +[05/27 00:37:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2039: 1 episodes +[05/27 00:37:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:37:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:37:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2039 +[05/27 00:37:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2039 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 00:37:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2039 +[05/27 00:37:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2039: 0/1 successful episodes +[05/27 00:37:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2162 (index 19/115) +[05/27 00:37:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2162 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:37:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 00:37:16 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +[05/27 00:37:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene +Goal: place blue hammer with orange handle next to murphy +[2026-05-27 00:38:19,111] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:38:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:50:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 2162 episode 0 object objahandtool_ed6973497d074fd6969fd06f52e8da04_1_0_6 completed with success=False +[05/27 00:50:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2162: 1 episodes +[05/27 00:50:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:50:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:50:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2162 +[05/27 00:50:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2162 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 00:50:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2162 +[05/27 00:50:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2162: 0/1 successful episodes +[05/27 00:50:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2266 (index 20/115) +[05/27 00:50:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:50:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place glossy green cup next to glossy round bowl +[2026-05-27 00:51:21,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:51:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:57:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2266 episode 0 object cup_8d9428c0be7f5e5aef31cf7e5152e057_1_0_2 completed with success=False +[05/27 00:57:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2266: 1 episodes +[05/27 00:57:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:57:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:57:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2266 +[05/27 00:57:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2266 in 2.76s (batch: 2.68s, save: 0.09s) +[05/27 00:57:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2266 +[05/27 00:57:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2266: 0/1 successful episodes +[05/27 00:57:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2374 (index 21/115) +[05/27 00:57:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2374 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:57:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place dark spiked mace next to round brown bread +[2026-05-27 00:59:09,263] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:16:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 2374 episode 0 object objamace_8bf2eabaaf7f4ee09641ae6fec234644_1_0_2 completed with success=False +[05/27 01:16:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2374: 1 episodes +[05/27 01:16:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:16:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:16:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2374 +[05/27 01:16:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2374 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 01:16:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2374 +[05/27 01:16:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2374: 0/1 successful episodes +[05/27 01:16:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2475 (index 22/115) +[05/27 01:16:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:16:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place polygon next to terracotta molding +[2026-05-27 01:17:53,851] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:18:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:27:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 2475 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_6 completed with success=False +[05/27 01:27:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2475: 1 episodes +[05/27 01:27:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:27:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:27:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2475 +[05/27 01:27:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2475 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 01:27:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2475 +[05/27 01:27:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2475: 0/1 successful episodes +[05/27 01:27:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2537 (index 23/115) +[05/27 01:27:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:27:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 01:27:18 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene +[05/27 01:27:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +[05/27 01:27:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +Goal: place burnt white candle next to colorful puzzle cube +[2026-05-27 01:28:22,318] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:28:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:39:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 2537 episode 0 object objacandle_464b8c40369549e98243c274e894bd4b_1_0_9 completed with success=False +[05/27 01:39:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2537: 1 episodes +[05/27 01:39:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:40:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2537 +[05/27 01:40:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2537 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 01:40:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2537 +[05/27 01:40:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2537: 0/1 successful episodes +[05/27 01:40:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2678 (index 24/115) +[05/27 01:40:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:40:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place vintage black camera with lens next to polished silver-gray metal vase +[2026-05-27 01:41:11,011] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:56:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 2678 episode 0 object objacamera_6e9951dd41be4ae5b98a3e1857b94671_1_0_7 completed with success=False +[05/27 01:56:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2678: 1 episodes +[05/27 01:56:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:56:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:56:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2678 +[05/27 01:56:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2678 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 01:56:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2678 +[05/27 01:56:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2678: 0/1 successful episodes +[05/27 01:56:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2800 (index 25/115) +[05/27 01:56:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2800 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:56:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place jagged white marble piece with veins next to soapdispenser +[2026-05-27 01:58:09,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:58:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:05:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 2800 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False +[05/27 02:05:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2800: 1 episodes +[05/27 02:05:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:06:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:06:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2800 +[05/27 02:06:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2800 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 02:06:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2800 +[05/27 02:06:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2800: 0/1 successful episodes +[05/27 02:06:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2873 (index 26/115) +[05/27 02:06:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2873 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 02:06:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place brown animal statuette next to radio link +[2026-05-27 02:07:38,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:08:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:19:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 2873 episode 0 object objastatuette_c02a6cb0ecd141669ce2dfed1e31a126_1_0_4 completed with success=False +[05/27 02:19:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2873: 1 episodes +[05/27 02:19:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:19:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:19:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2873 +[05/27 02:19:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2873 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 02:19:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2873 +[05/27 02:19:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2873: 0/1 successful episodes +[05/27 02:19:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2970 (index 27/115) +[05/27 02:19:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 02:19:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 02:19:53 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene +[05/27 02:19:53 Worker 0 WARNING object_manager.py:1238] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_7 in scene +[05/27 02:19:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_7 in scene +Goal: place fantasy hammer next to olive scalloped ceramic plate +[2026-05-27 02:20:56,564] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:21:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:34:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 2970 episode 0 object objafantasyhammer_ee13a88b5c134317b0b1da1d14403ddd_1_0_8 completed with success=False +[05/27 02:34:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2970: 1 episodes +[05/27 02:34:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:34:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:34:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2970 +[05/27 02:34:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2970 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 02:34:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2970 +[05/27 02:34:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2970: 0/1 successful episodes +[05/27 02:34:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3062 (index 28/115) +[05/27 02:34:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3062 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 02:34:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 02:34:41 Worker 0 WARNING object_manager.py:1238] Could not find object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_8 in scene +[05/27 02:34:41 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene +Goal: place sportsshoe next to red lighthouse +[2026-05-27 02:35:44,395] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:52:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 3062 episode 0 object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 completed with success=False +[05/27 02:52:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 02:52:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_8 in scene +[05/27 02:52:20 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene +Goal: place munition next to rustic wooden corbel support +[2026-05-27 02:53:22,893] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:53:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:09:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3062 episode 1 object objaexplosivedevice_6d333be39e454b458d48ad86f8a78df4_1_0_4 completed with success=False +[05/27 03:09:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3062: 2 episodes +[05/27 03:09:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:09:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:09:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:09:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:09:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3062 +[05/27 03:09:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3062 in 5.68s (batch: 5.50s, save: 0.17s) +[05/27 03:09:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3062 +[05/27 03:09:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3062: 0/2 successful episodes +[05/27 03:09:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3095 (index 29/115) +[05/27 03:09:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3095 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:09:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place worn vintage gameboy console next to blue book +[2026-05-27 03:10:58,789] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:11:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:19:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3095 episode 0 object objahandheldgameconsole_021b1586089044278164dadc584abb89_1_0_7 completed with success=False +[05/27 03:19:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3095: 1 episodes +[05/27 03:19:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:19:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:19:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3095 +[05/27 03:19:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3095 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 03:19:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3095 +[05/27 03:19:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3095: 0/1 successful episodes +[05/27 03:19:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3208 (index 30/115) +[05/27 03:19:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:19:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place long colorful strip with texture next to ornate silver and gold gavel +[2026-05-27 03:20:37,771] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:21:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:31:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3208 episode 0 object objadecorativetrim_f8312d4b1883445ea7fd521a4504fde3_1_0_7 completed with success=False +[05/27 03:31:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3208: 1 episodes +[05/27 03:31:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:31:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:31:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3208 +[05/27 03:31:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3208 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 03:31:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3208 +[05/27 03:31:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3208: 0/1 successful episodes +[05/27 03:31:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3263 (index 31/115) +[05/27 03:31:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3263 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:31:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +Goal: place vintage metallic camera with floral engravings next to oval brown potato +[2026-05-27 03:32:35,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:33:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:42:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3263 episode 0 object objacamera_966235cef3f34f40aa8bd19063c6c411_1_0_2 completed with success=False +[05/27 03:42:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3263: 1 episodes +[05/27 03:42:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:42:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:42:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3263 +[05/27 03:42:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3263 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 03:42:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3263 +[05/27 03:42:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3263: 0/1 successful episodes +[05/27 03:42:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3300 (index 32/115) +[05/27 03:42:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3300 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:42:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 +[05/27 03:42:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 03:42:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 03:42:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 03:42:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 03:42:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 03:42:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the open brown cardboard box packaging and place it next to the vintage blue twin-bell alarm clock' +[05/27 03:42:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 3300 episode 0/1 collected=0/2 +[05/27 03:42:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +Goal: place open brown cardboard box packaging next to vintage blue twin-bell alarm clock +[2026-05-27 03:43:59,138] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:05:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3300 episode 0 object box_5358700257a2427d72759d135597dc51_1_0_7 completed with success=False +[05/27 04:05:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3300: 1 episodes +[05/27 04:05:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:05:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:05:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3300 +[05/27 04:05:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3300 in 2.29s (batch: 2.20s, save: 0.09s) +[05/27 04:05:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3300 +[05/27 04:05:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3300: 0/1 successful episodes +[05/27 04:05:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3390 (index 33/115) +[05/27 04:05:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:05:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 04:05:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaearring_4e81a083ae304ff4a9fe0cf50a3afd50_1_0_8 in scene +Goal: place white rectangular electrical connector next to blue soap bottle with golden pump +[2026-05-27 04:06:15,822] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:06:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:12:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3390 episode 0 object objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_8 completed with success=False +[05/27 04:12:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3390: 1 episodes +[05/27 04:12:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:12:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3390 +[05/27 04:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3390 in 2.90s (batch: 2.79s, save: 0.11s) +[05/27 04:12:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3390 +[05/27 04:12:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3390: 0/1 successful episodes +[05/27 04:12:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3450 (index 34/115) +[05/27 04:12:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3450 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:12:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place yellow kitchen knife with blade next to soapdispenser +[2026-05-27 04:13:25,373] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:13:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:21:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3450 episode 0 object knife_7db4ef03593a98cc5b883c623dde8d9f_1_0_2 completed with success=False +[05/27 04:21:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3450: 1 episodes +[05/27 04:21:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:21:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:21:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3450 +[05/27 04:21:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3450 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 04:21:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3450 +[05/27 04:21:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3450: 0/1 successful episodes +[05/27 04:21:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3529 (index 35/115) +[05/27 04:21:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3529 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:21:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place dark metal frying pan next to bulbous shiny gold metallic vase +[2026-05-27 04:22:33,085] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:23:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:37:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3529 episode 0 object cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2 completed with success=False +[05/27 04:38:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3529: 1 episodes +[05/27 04:38:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:38:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3529 +[05/27 04:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3529 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 04:38:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3529 +[05/27 04:38:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3529: 0/1 successful episodes +[05/27 04:38:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3635 (index 36/115) +[05/27 04:38:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:38:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_5 in scene +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objamodeltower_f5b9396794dc4bc7882aeb32a400da98_1_0_9 in scene +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place metal clamp with orange grips next to gray bird +[2026-05-27 04:39:18,189] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:58:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3635 episode 0 object objaspringclamp_a548ac5c9d014c83afed99f47f0eb118_1_0_3 completed with success=False +[05/27 04:58:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3635: 1 episodes +[05/27 04:58:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:58:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:58:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3635 +[05/27 04:58:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3635 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 04:58:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3635 +[05/27 04:58:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3635: 0/1 successful episodes +[05/27 04:58:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3742 (index 37/115) +[05/27 04:58:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:58:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue handheld device with cylindrical barrel next to green lettuce +[2026-05-27 04:59:19,544] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:59:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:07:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3742 episode 0 object objatool_7fbf9a210de74910b0ab4bbe740fce1c_1_0_6 completed with success=False +[05/27 05:07:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3742: 1 episodes +[05/27 05:07:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:07:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:07:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3742 +[05/27 05:07:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3742 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 05:07:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3742 +[05/27 05:07:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3742: 0/1 successful episodes +[05/27 05:07:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3790 (index 38/115) +[05/27 05:07:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3790 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:07:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 05:07:23 Worker 0 WARNING object_manager.py:1238] Could not find object objanoveltyaxe_fdade657c4cc47ad96cf428fc10b3120_1_0_6 in scene +[05/27 05:07:23 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_8f6844832379a39c0316319c38fb1803_1_0_6 in scene +Goal: place realistic detailed ivory skull next to tall dark gray decorative pillow +[2026-05-27 05:08:27,046] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:09:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:16:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 3790 episode 0 object objaskullmodel_3550b1feb37745b6a6dbec510ccb740b_1_0_4 completed with success=False +[05/27 05:16:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3790: 1 episodes +[05/27 05:16:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:16:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:16:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3790 +[05/27 05:16:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3790 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 05:16:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3790 +[05/27 05:16:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3790: 0/1 successful episodes +[05/27 05:16:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3918 (index 39/115) +[05/27 05:16:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3918 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:16:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 05:16:13 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene +[05/27 05:16:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place candle next to dark green matte suppressor device +[2026-05-27 05:17:16,590] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:29:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3918 episode 0 object candle_ef48126e155d4ed0804b46d4b3a42ca2_1_0_9 completed with success=False +[05/27 05:29:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3918: 1 episodes +[05/27 05:29:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:29:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:29:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3918 +[05/27 05:29:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3918 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 05:29:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3918 +[05/27 05:29:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3918: 0/1 successful episodes +[05/27 05:29:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4041 (index 40/115) +[05/27 05:29:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:29:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 05:29:45 Worker 0 WARNING object_manager.py:1238] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene +Goal: place yellow kitchen knife with sharp blade next to human hand +[2026-05-27 05:30:48,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:31:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:38:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 4041 episode 0 object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2 completed with success=False +[05/27 05:38:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4041: 1 episodes +[05/27 05:38:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:38:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:38:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4041 +[05/27 05:38:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4041 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 05:38:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4041 +[05/27 05:38:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4041: 0/1 successful episodes +[05/27 05:38:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4145 (index 41/115) +[05/27 05:38:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4145 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:38:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place blue vhs with horror design next to clear glass martini cup +[2026-05-27 05:39:17,063] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:39:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:46:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4145 episode 0 object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_2 completed with success=False +[05/27 05:46:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4145: 1 episodes +[05/27 05:46:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:46:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:46:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4145 +[05/27 05:46:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4145 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 05:46:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4145 +[05/27 05:46:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4145: 0/1 successful episodes +[05/27 05:46:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4216 (index 42/115) +[05/27 05:46:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:46:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place brown gourd seedpod next to wooden trophy with pink white emblem +[2026-05-27 05:47:28,928] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:48:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:55:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4216 episode 0 object objagourd_ecf826d7f2ba4486b7841f0536b72a4a_1_0_2 completed with success=False +[05/27 05:55:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4216: 1 episodes +[05/27 05:55:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:55:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:55:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4216 +[05/27 05:55:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4216 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 05:55:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4216 +[05/27 05:55:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4216: 0/1 successful episodes +[05/27 05:55:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4240 (index 43/115) +[05/27 05:55:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:55:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 05:55:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_4550080e417a4e118eff3979d3b62874_1_0_7 in scene +Goal: place black ribbed plastic cap next to purple rectangular shiny quilted pillow +[2026-05-27 05:56:54,455] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:12:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4240 episode 0 object objacap_3a40810c85cd4576af04b66e5a18e6a0_1_0_8 completed with success=False +[05/27 06:12:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 06:12:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_4550080e417a4e118eff3979d3b62874_1_0_7 in scene +Goal: place green and yellow sponge next to tall transparent cup +[2026-05-27 06:13:54,885] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:14:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4240 episode 1 object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 completed with success=False +[05/27 06:29:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4240: 2 episodes +[05/27 06:29:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:29:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:29:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:29:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:29:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4240 +[05/27 06:29:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4240 in 5.45s (batch: 5.29s, save: 0.17s) +[05/27 06:29:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4240 +[05/27 06:29:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4240: 0/2 successful episodes +[05/27 06:29:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4291 (index 44/115) +[05/27 06:29:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4291 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:29:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place gunsuppressor next to modern black toaster with metallic ridges +[2026-05-27 06:30:30,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:31:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:36:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4291 episode 0 object objagunsuppressor_9616f6013c204a49a9d90758f8e83faf_1_0_2 completed with success=False +[05/27 06:36:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4291: 1 episodes +[05/27 06:36:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:36:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:36:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4291 +[05/27 06:36:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4291 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 06:36:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4291 +[05/27 06:36:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4291: 0/1 successful episodes +[05/27 06:36:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4325 (index 45/115) +[05/27 06:36:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4325 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:36:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place matte gray wraparound safety glasses next to bulbous shiny gold metallic vase +[2026-05-27 06:37:23,594] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:37:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:46:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4325 episode 0 object objasafetyglasses_7e6a9db3e19a4cc2b49bcea5fef1d7bb_1_0_2 completed with success=False +[05/27 06:46:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4325: 1 episodes +[05/27 06:46:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:46:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4325 +[05/27 06:46:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4325 in 2.36s (batch: 2.26s, save: 0.09s) +[05/27 06:46:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4325 +[05/27 06:46:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4325: 0/1 successful episodes +[05/27 06:46:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4400 (index 46/115) +[05/27 06:46:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:46:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place gray hourglass-shaped cup next to glossy green cup +[2026-05-27 06:47:15,407] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:47:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:55:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4400 episode 0 object cup_03f875ba63b7adc57ed0b350736f7167_1_0_2 completed with success=False +[05/27 06:55:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4400: 1 episodes +[05/27 06:55:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:55:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:55:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4400 +[05/27 06:55:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4400 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 06:55:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4400 +[05/27 06:55:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4400: 0/1 successful episodes +[05/27 06:55:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4494 (index 47/115) +[05/27 06:55:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:55:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 06:55:33 Worker 0 WARNING object_manager.py:1238] Could not find object vase_485850bef5e28630dd1156aaec2e3528_1_0_5 in scene +Goal: place movie camera next to dark statue +[2026-05-27 06:56:36,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:57:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:10:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4494 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2 completed with success=False +[05/27 07:10:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4494: 1 episodes +[05/27 07:10:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:10:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:10:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4494 +[05/27 07:10:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4494 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 07:10:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4494 +[05/27 07:10:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4494: 0/1 successful episodes +[05/27 07:10:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4622 (index 48/115) +[05/27 07:10:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:10:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaornatebook_b14f9bd1248c4501a0c30e27d3561207_1_0_4 in scene +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_02864bed4cf19e35d7f7f9b34005b51f_1_0_4 in scene +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_1c94b10f01654a0c928acbccf0db141e_1_0_5 in scene +Goal: place red pin next to red white striped lighthouse with roof +[2026-05-27 07:11:40,953] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:12:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:27:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4622 episode 0 object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7 completed with success=False +[05/27 07:27:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4622: 1 episodes +[05/27 07:27:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:27:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:27:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4622 +[05/27 07:27:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4622 in 3.00s (batch: 2.90s, save: 0.09s) +[05/27 07:27:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4622 +[05/27 07:27:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4622: 0/1 successful episodes +[05/27 07:27:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4680 (index 49/115) +[05/27 07:27:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4680 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:27:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place round rustic goblet next to blow drier +[2026-05-27 07:28:45,321] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:29:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:36:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4680 episode 0 object objagoblet_eca84b5c63d243e0b7b13b703875d869_1_0_2 completed with success=False +[05/27 07:36:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4680: 1 episodes +[05/27 07:36:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:36:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:36:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4680 +[05/27 07:36:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4680 in 2.83s (batch: 2.73s, save: 0.09s) +[05/27 07:36:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4680 +[05/27 07:36:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4680: 0/1 successful episodes +[05/27 07:36:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4716 (index 50/115) +[05/27 07:36:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4716 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:36:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 07:37:00 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place red pin next to small beige clay tablet with engravings +[2026-05-27 07:38:03,617] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:52:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4716 episode 0 object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7 completed with success=False +[05/27 07:52:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4716: 1 episodes +[05/27 07:52:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:52:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:52:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4716 +[05/27 07:52:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4716 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 07:52:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4716 +[05/27 07:52:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4716: 0/1 successful episodes +[05/27 07:52:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4800 (index 51/115) +[05/27 07:52:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4800 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:52:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place red bell pepper with stem next to smokingpipe +[2026-05-27 07:53:20,382] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:53:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:03:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4800 episode 0 object objavegetable_d8d6bb178d07401aa9c94faab14e0b4f_1_0_6 completed with success=False +[05/27 08:03:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4800: 1 episodes +[05/27 08:03:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:03:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:03:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4800 +[05/27 08:03:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4800 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 08:03:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4800 +[05/27 08:03:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4800: 0/1 successful episodes +[05/27 08:03:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4872 (index 52/115) +[05/27 08:03:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4872 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:03:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 08:04:02 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_75c97069e89c4d84ab36922b77a97678_1_0_5 in scene +[05/27 08:04:02 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_6cb44b2639434029872f4a0a03e42521_1_0_5 in scene +[05/27 08:04:02 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place green smoke grenade with lever next to glossy black trophy +[2026-05-27 08:05:06,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:05:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:15:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4872 episode 0 object objasmokegrenade_eb6b544af0ec4072b52d193c4d90efad_1_0_7 completed with success=False +[05/27 08:15:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4872: 1 episodes +[05/27 08:15:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:15:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:15:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4872 +[05/27 08:15:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4872 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 08:15:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4872 +[05/27 08:15:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4872: 0/1 successful episodes +[05/27 08:15:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4962 (index 53/115) +[05/27 08:15:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4962 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:15:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place sleek black hairdryer with pink opening next to green dragon axe +[2026-05-27 08:16:40,332] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:17:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:32:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4962 episode 0 object objahairdryer_9ddac67ac88d47758c8e85f154a61dbb_1_0_7 completed with success=False +[05/27 08:32:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4962: 1 episodes +[05/27 08:32:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:32:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:32:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4962 +[05/27 08:32:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4962 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 08:32:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4962 +[05/27 08:32:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4962: 0/1 successful episodes +[05/27 08:32:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5067 (index 54/115) +[05/27 08:32:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5067 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:32:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 08:32:39 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelairship_268669ad2fc54aafac3003b1656d2b20_1_0_6 in scene +[05/27 08:32:39 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_a57856d0ecd933c51f9e8bf8f3bcf569_1_0_6 in scene +Goal: place portable black handheld radio with antenna next to beige fedora hat +[2026-05-27 08:33:43,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:36:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5067 episode 0 object objawalkietalkie_282d16b8d5a84343953eb6d8d135722a_1_0_6 completed with success=True +[05/27 08:36:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5067: 1 episodes +[05/27 08:36:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 75 timesteps +[05/27 08:36:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:36:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5067 +[05/27 08:36:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5067 in 2.56s (batch: 2.53s, save: 0.03s) +[05/27 08:36:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5067 +[05/27 08:36:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5067: 1/1 successful episodes +[05/27 08:36:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5164 (index 55/115) +[05/27 08:36:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5164 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:36:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place weathered stone medallion with flower next to brown egg +[2026-05-27 08:37:55,292] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5164 episode 0 object objadecorativemedallion_8ac2c0dc500f4477ad31ccfd82a106f3_1_0_2 completed with success=False +[05/27 08:52:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5164: 1 episodes +[05/27 08:52:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:52:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:52:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5164 +[05/27 08:52:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5164 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 08:52:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5164 +[05/27 08:52:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5164: 0/1 successful episodes +[05/27 08:52:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5203 (index 56/115) +[05/27 08:52:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5203 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:52:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place black axe with camouflage handle next to tomato +[2026-05-27 08:53:46,154] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:54:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:07:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5203 episode 0 object objatacticaltool_939742983522410db0d0d18b38b5f48a_1_0_8 completed with success=False +[05/27 09:07:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5203: 1 episodes +[05/27 09:07:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:07:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:07:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5203 +[05/27 09:07:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5203 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 09:07:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5203 +[05/27 09:07:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5203: 0/1 successful episodes +[05/27 09:07:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5382 (index 57/115) +[05/27 09:07:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:07:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place vintage wooden stamp handle next to bronze full-figured statue +[2026-05-27 09:09:00,318] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:09:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:21:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5382 episode 0 object objastamp_08c428ecb76446c288479a3b95dfd144_1_0_9 completed with success=False +[05/27 09:21:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5382: 1 episodes +[05/27 09:21:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:21:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:21:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5382 +[05/27 09:21:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5382 in 2.74s (batch: 2.66s, save: 0.09s) +[05/27 09:21:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5382 +[05/27 09:21:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5382: 0/1 successful episodes +[05/27 09:21:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5459 (index 58/115) +[05/27 09:21:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5459 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:21:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object objafossilizedseashell_1b5378b435b246c094197cdf1b2801ee_1_0_4 in scene +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene +Goal: place gray handheld video camera with handle next to slim blue cell phone with pattern +[2026-05-27 09:24:16,099] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:24:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:35:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5459 episode 0 object objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_7 completed with success=False +[05/27 09:35:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5459: 1 episodes +[05/27 09:35:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:35:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:35:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5459 +[05/27 09:35:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5459 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 09:35:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5459 +[05/27 09:35:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5459: 0/1 successful episodes +[05/27 09:35:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5546 (index 59/115) +[05/27 09:35:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5546 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:35:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place brown wooden studded club next to thick yellow hardcover programming book +[2026-05-27 09:36:23,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:36:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:44:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5546 episode 0 object objadecorativeclub_de3246c2dea44185bf857acbcc51ae3b_1_0_2 completed with success=False +[05/27 09:44:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5546: 1 episodes +[05/27 09:44:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:44:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:44:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5546 +[05/27 09:44:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5546 in 2.77s (batch: 2.69s, save: 0.09s) +[05/27 09:44:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5546 +[05/27 09:44:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5546: 0/1 successful episodes +[05/27 09:44:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5612 (index 60/115) +[05/27 09:44:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5612 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:44:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place decorative eye sculpture next to glossy black dog statue +[2026-05-27 09:45:56,717] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:46:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:56:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5612 episode 0 object objadecorativeeyesculpture_454bf9901cee4629b2e3b87541c8ab1f_1_0_4 completed with success=False +[05/27 09:56:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5612: 1 episodes +[05/27 09:56:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:56:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:56:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5612 +[05/27 09:56:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5612 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 09:56:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5612 +[05/27 09:56:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5612: 0/1 successful episodes +[05/27 09:56:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5668 (index 61/115) +[05/27 09:56:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:56:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place gray rectangular vintage phone next to purple rectangular shiny quilted pillow +[2026-05-27 09:58:14,092] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:58:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:14:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5668 episode 0 object objavintagemobilephone_440be7eb5de8469f84dbadefec1f0786_1_0_4 completed with success=False +[05/27 10:14:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5668: 1 episodes +[05/27 10:14:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:14:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:14:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5668 +[05/27 10:14:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5668 in 2.40s (batch: 2.30s, save: 0.09s) +[05/27 10:14:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5668 +[05/27 10:14:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5668: 0/1 successful episodes +[05/27 10:14:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5773 (index 62/115) +[05/27 10:14:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5773 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:14:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 10:14:44 Worker 0 WARNING object_manager.py:1238] Could not find object objacoresample_1523f4c39bc84375b9ebf4e66fe972bf_1_0_2 in scene +Goal: place beige cartoon skeleton figure next to white candle with number four +[2026-05-27 10:15:48,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:16:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:28:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5773 episode 0 object objaskeletonfigure_d607a92aa9b54909b993535f96997115_2_0_4 completed with success=False +[05/27 10:28:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5773: 1 episodes +[05/27 10:28:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:28:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:28:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5773 +[05/27 10:28:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5773 in 2.73s (batch: 2.65s, save: 0.09s) +[05/27 10:28:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5773 +[05/27 10:28:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5773: 0/1 successful episodes +[05/27 10:28:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5897 (index 63/115) +[05/27 10:28:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5897 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:28:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place silver cross with grip next to black rectangular computer monitor +[2026-05-27 10:30:07,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:41:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5897 episode 0 object objadecorativestake_a7b05f15639049798a22ae3976000dc4_1_0_5 completed with success=False +[05/27 10:41:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5897: 1 episodes +[05/27 10:41:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:41:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:41:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5897 +[05/27 10:41:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5897 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 10:41:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5897 +[05/27 10:41:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5897: 0/1 successful episodes +[05/27 10:41:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5928 (index 64/115) +[05/27 10:41:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:41:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place small circular device projecting blue light next to realistic primate skull +[2026-05-27 10:42:54,586] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:43:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:51:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 5928 episode 0 object objaholographicprojector_9860e2270f1245698995adce759c187f_1_0_2 completed with success=False +[05/27 10:51:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5928: 1 episodes +[05/27 10:51:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:51:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:51:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5928 +[05/27 10:51:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5928 in 2.33s (batch: 2.24s, save: 0.09s) +[05/27 10:51:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5928 +[05/27 10:51:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5928: 0/1 successful episodes +[05/27 10:51:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6068 (index 65/115) +[05/27 10:51:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:51:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 10:51:40 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_5 in scene +Goal: place striped wasp next to gray rubber mallet with wooden handle +[2026-05-27 10:52:42,840] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:53:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:05:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 6068 episode 0 object objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_2 completed with success=False +[05/27 11:05:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6068: 1 episodes +[05/27 11:05:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:05:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:05:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6068 +[05/27 11:05:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6068 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 11:05:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6068 +[05/27 11:05:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6068: 0/1 successful episodes +[05/27 11:05:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6143 (index 66/115) +[05/27 11:05:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6143 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:05:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place porcelain dish with colorful floral patterns next to smooth red apple with stem +[2026-05-27 11:06:57,194] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:13:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 6143 episode 0 object objadish_0f1f3038a3144ab88d39739cc980fdc1_1_0_2 completed with success=False +[05/27 11:13:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6143: 1 episodes +[05/27 11:13:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:13:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:13:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6143 +[05/27 11:13:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6143 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 11:13:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6143 +[05/27 11:13:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6143: 0/1 successful episodes +[05/27 11:13:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6205 (index 67/115) +[05/27 11:13:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:13:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 11:13:38 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_6123eb533c72464c976bbcbc79d0613c_1_0_6 in scene +Goal: place pop up card next to bulbous shiny gold vase +[2026-05-27 11:14:45,522] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:15:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:27:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 6205 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_2_0_8 completed with success=False +[05/27 11:27:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6205: 1 episodes +[05/27 11:27:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:27:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:27:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6205 +[05/27 11:27:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6205 in 2.77s (batch: 2.68s, save: 0.10s) +[05/27 11:27:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6205 +[05/27 11:27:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6205: 0/1 successful episodes +[05/27 11:27:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6269 (index 68/115) +[05/27 11:27:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6269 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:27:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place blue soap bottle with orange pump next to gray bowl +[2026-05-27 11:28:22,810] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:28:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:38:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 6269 episode 0 object soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_6 completed with success=False +[05/27 11:38:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6269: 1 episodes +[05/27 11:38:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:38:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:38:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6269 +[05/27 11:38:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6269 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 11:38:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6269 +[05/27 11:38:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6269: 0/1 successful episodes +[05/27 11:38:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6303 (index 69/115) +[05/27 11:38:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:38:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place blue marker next to translucent blue soap bottle with pump +[2026-05-27 11:39:21,230] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:39:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:47:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 6303 episode 0 object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_6 completed with success=False +[05/27 11:47:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6303: 1 episodes +[05/27 11:47:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:47:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:47:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6303 +[05/27 11:47:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6303 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 11:47:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6303 +[05/27 11:47:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6303: 0/1 successful episodes +[05/27 11:47:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6391 (index 70/115) +[05/27 11:47:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:47:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place rough corroded circular metal ring next to square olive green plate +[2026-05-27 11:48:34,056] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:49:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:02:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 6391 episode 0 object objametalring_8b9edce1030849c0b2101af955b65b02_1_0_9 completed with success=False +[05/27 12:02:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6391: 1 episodes +[05/27 12:02:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:02:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:02:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6391 +[05/27 12:02:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6391 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 12:02:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6391 +[05/27 12:02:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6391: 0/1 successful episodes +[05/27 12:02:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6437 (index 71/115) +[05/27 12:02:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 12:02:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place blue milk carton with red logo next to rustic horn candleholder +[2026-05-27 12:03:24,980] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:03:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:19:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 6437 episode 0 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_4 completed with success=False +[05/27 12:19:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place small glossy turquoise eye of horus amulet next to dark laptop +[2026-05-27 12:20:32,941] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:36:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 6437 episode 1 object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_3 completed with success=False +[05/27 12:36:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6437: 2 episodes +[05/27 12:36:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:36:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:36:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6437 +[05/27 12:36:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6437 in 4.72s (batch: 4.55s, save: 0.18s) +[05/27 12:36:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6437 +[05/27 12:36:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6437: 0/2 successful episodes +[05/27 12:36:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6469 (index 72/115) +[05/27 12:36:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6469 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 12:36:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place golden crescent moon pink wand next to laptop computer +[2026-05-27 12:37:39,127] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:38:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:49:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 6469 episode 0 object objadecorativewand_587b79d19e94452b8c825603fcbe834a_1_0_7 completed with success=False +[05/27 12:49:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6469: 1 episodes +[05/27 12:49:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:49:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:49:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6469 +[05/27 12:49:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6469 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 12:49:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6469 +[05/27 12:49:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6469: 0/1 successful episodes +[05/27 12:49:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6557 (index 73/115) +[05/27 12:49:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6557 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 12:49:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 12:49:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapartition_c493ffa0f0794041914d9d68dd439699_1_0_4 in scene +Goal: place equipment next to marblesculpture +[2026-05-27 12:50:50,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:05:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 6557 episode 0 object objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_6 completed with success=False +[05/27 13:05:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6557: 1 episodes +[05/27 13:05:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:05:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:05:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6557 +[05/27 13:05:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6557 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 13:05:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6557 +[05/27 13:05:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6557: 0/1 successful episodes +[05/27 13:05:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6705 (index 74/115) +[05/27 13:05:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6705 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:05:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place classic red plastic cup with ridges next to smooth white triangular wedge with texture +[2026-05-27 13:06:34,496] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:07:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:17:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 6705 episode 0 object objaplasticcup_22798b1b718749608a0e729d576727a4_1_0_8 completed with success=False +[05/27 13:17:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6705: 1 episodes +[05/27 13:17:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:17:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:17:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6705 +[05/27 13:17:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6705 in 2.41s (batch: 2.31s, save: 0.10s) +[05/27 13:17:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6705 +[05/27 13:17:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6705: 0/1 successful episodes +[05/27 13:17:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6767 (index 75/115) +[05/27 13:17:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:17:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/5 [00:00 does not support tracking retries. +Goal: place transparent soap bottle with dark pump next to shallow dark round cooking pan +[2026-05-27 13:18:16,899] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:18:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:23:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6767 episode 0 object soapdispenser_92169e2640439bd67fb105701482b508_1_0_2 completed with success=False +[05/27 13:23:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6767: 1 episodes +[05/27 13:23:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:23:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:23:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6767 +[05/27 13:23:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6767 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 13:23:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6767 +[05/27 13:23:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6767: 0/1 successful episodes +[05/27 13:23:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6903 (index 76/115) +[05/27 13:23:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6903 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:23:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 13:24:09 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_5 in scene +Goal: place sleek dark blue triangular wedge next to plate +[2026-05-27 13:25:12,685] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:25:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:36:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 6903 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_8 completed with success=False +[05/27 13:36:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6903: 1 episodes +[05/27 13:36:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:36:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:36:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6903 +[05/27 13:36:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6903 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 13:36:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6903 +[05/27 13:36:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6903: 0/1 successful episodes +[05/27 13:36:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6978 (index 77/115) +[05/27 13:36:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:36:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object objacrocodileskull_839c00e0fed14ad38ee276b0e0806a60_1_0_4 in scene +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_4 in scene +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 in scene +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene +Goal: place black high-performance graphics card next to black metal scope mount with knob +[2026-05-27 13:37:51,541] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:38:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6978 episode 0 object objagraphicscard_fab5cfb1c5c143878bdfc9be2f3827bb_1_0_3 completed with success=False +[05/27 13:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6978: 1 episodes +[05/27 13:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:54:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:54:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6978 +[05/27 13:54:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6978 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 13:54:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6978 +[05/27 13:54:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6978: 0/1 successful episodes +[05/27 13:54:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7015 (index 78/115) +[05/27 13:54:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:54:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 13:54:22 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_9 in scene +Goal: place rectangular beige ceramic dish next to glossy translucent light blue bowl +[2026-05-27 13:55:26,581] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:55:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:08:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7015 episode 0 object objaceramicdish_2ad1dfed7b784a2bb12fc7cbcb5f4831_1_0_8 completed with success=False +[05/27 14:09:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7015: 1 episodes +[05/27 14:09:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:09:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:09:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7015 +[05/27 14:09:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7015 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 14:09:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7015 +[05/27 14:09:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7015: 0/1 successful episodes +[05/27 14:09:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7083 (index 79/115) +[05/27 14:09:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7083 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:09:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 14:09:34 Worker 0 WARNING object_manager.py:1238] Could not find object objametalbar_2d1809423969400fbf94550978b1bcaa_1_0_8 in scene +Goal: place blue calendar with mountain design next to slim gold metallic phone +[2026-05-27 14:10:39,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:28:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 7083 episode 0 object objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_2_0_8 completed with success=False +[05/27 14:28:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7083: 1 episodes +[05/27 14:28:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:28:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:28:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7083 +[05/27 14:28:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7083 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 14:28:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7083 +[05/27 14:28:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7083: 0/1 successful episodes +[05/27 14:28:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7174 (index 80/115) +[05/27 14:28:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:28:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 14:28:41 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 in scene +Goal: place black rectangular sunglasses next to mallet +[2026-05-27 14:29:44,791] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:42:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 7174 episode 0 object objasunglasses_c8d8a11e50f74bd390b35e4868984474_1_0_7 completed with success=False +[05/27 14:42:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7174: 1 episodes +[05/27 14:42:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:42:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:42:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7174 +[05/27 14:42:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7174 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 14:42:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7174 +[05/27 14:42:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7174: 0/1 successful episodes +[05/27 14:42:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7286 (index 81/115) +[05/27 14:42:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:42:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place pink gnome with beard next to glossy translucent light blue bowl +[2026-05-27 14:43:48,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:44:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:44:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 7286 episode 0 object objagardengnome_d2bbb5477fac472ca10ab8370aa18aae_1_0_2 completed with success=True +[05/27 14:44:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7286: 1 episodes +[05/27 14:44:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/27 14:44:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:44:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7286 +[05/27 14:44:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7286 in 2.16s (batch: 2.13s, save: 0.03s) +[05/27 14:44:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7286 +[05/27 14:44:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7286: 1/1 successful episodes +[05/27 14:44:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7346 (index 82/115) +[05/27 14:44:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:44:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place tableware next to laptop computer +[2026-05-27 14:46:18,008] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:46:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:04:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 7346 episode 0 object bowl_80746f55d05634985152668dea7876a0_1_0_4 completed with success=False +[05/27 15:04:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7346: 1 episodes +[05/27 15:04:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:04:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:04:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7346 +[05/27 15:04:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7346 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 15:04:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7346 +[05/27 15:04:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7346: 0/1 successful episodes +[05/27 15:04:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7396 (index 83/115) +[05/27 15:04:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:04:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 15:04:47 Worker 0 WARNING object_manager.py:1238] Could not find object objakylix_5151f64b23fa4e9491f064575622af19_1_0_7 in scene +Goal: place golden crimped pastry with crisscross pattern next to veggie +[2026-05-27 15:05:51,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:06:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:14:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 7396 episode 0 object objapastry_5c98cf58df074aa89633a055ddef2e49_1_0_6 completed with success=False +[05/27 15:14:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7396: 1 episodes +[05/27 15:14:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:14:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:14:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7396 +[05/27 15:14:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7396 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 15:14:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7396 +[05/27 15:14:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7396: 0/1 successful episodes +[05/27 15:14:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7453 (index 84/115) +[05/27 15:14:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:14:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 15:15:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +Goal: place white stand with red flag next to dentures +[2026-05-27 15:16:19,660] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:31:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 7453 episode 0 object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_7 completed with success=False +[05/27 15:31:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7453: 1 episodes +[05/27 15:31:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:31:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:31:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7453 +[05/27 15:31:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7453 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 15:31:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7453 +[05/27 15:31:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7453: 0/1 successful episodes +[05/27 15:31:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7568 (index 85/115) +[05/27 15:31:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7568 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:31:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place gavel with brown handle and brass next to topographicalmap +[2026-05-27 15:32:19,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:32:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:38:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 7568 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False +[05/27 15:38:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7568: 1 episodes +[05/27 15:38:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:38:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:38:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7568 +[05/27 15:38:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7568 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 15:38:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7568 +[05/27 15:38:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7568: 0/1 successful episodes +[05/27 15:38:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7668 (index 86/115) +[05/27 15:38:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:38:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 15:38:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_437e50e2a7b441ba87d54392c39c0baf_1_0_8 in scene +[05/27 15:38:23 Worker 0 WARNING object_manager.py:1238] Could not find object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_8 in scene +Goal: place blue eye with eyelashes next to spray bottle +[2026-05-27 15:39:27,192] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:40:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:53:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 7668 episode 0 object objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_8 completed with success=False +[05/27 15:53:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7668: 1 episodes +[05/27 15:53:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:53:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:53:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7668 +[05/27 15:53:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7668 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 15:53:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7668 +[05/27 15:53:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7668: 0/1 successful episodes +[05/27 15:53:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7765 (index 87/115) +[05/27 15:53:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:53:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place futuristic purple toy blaster with accents next to yellow striped airship +[2026-05-27 15:54:29,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:55:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:55:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 7765 episode 0 object objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_6 completed with success=True +[05/27 15:55:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7765: 1 episodes +[05/27 15:55:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/27 15:55:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:55:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7765 +[05/27 15:55:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7765 in 2.48s (batch: 2.45s, save: 0.03s) +[05/27 15:55:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7765 +[05/27 15:55:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7765: 1/1 successful episodes +[05/27 15:55:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7856 (index 88/115) +[05/27 15:55:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:55:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 15:56:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place pink hexagonal headed screw next to brown loaf bread +[2026-05-27 15:57:34,146] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:58:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:13:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 7856 episode 0 object objascrew_3c8aee2219d3478c877857da97042133_1_0_2 completed with success=False +[05/27 16:13:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7856: 1 episodes +[05/27 16:13:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:13:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:13:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7856 +[05/27 16:13:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7856 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 16:13:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7856 +[05/27 16:13:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7856: 0/1 successful episodes +[05/27 16:13:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7970 (index 89/115) +[05/27 16:13:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:13:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 16:13:57 Worker 0 WARNING object_manager.py:1238] Could not find object objatoy_4da717f372044adc85144a15e5479189_1_0_6 in scene +[05/27 16:13:57 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 in scene +Goal: place light rubber mallet with handle next to rugged gray rocky terrain with moss +[2026-05-27 16:15:00,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:16:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 7970 episode 0 object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_6 completed with success=True +[05/27 16:16:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7970: 1 episodes +[05/27 16:16:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/27 16:16:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:16:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7970 +[05/27 16:16:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7970 in 2.54s (batch: 2.51s, save: 0.03s) +[05/27 16:16:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7970 +[05/27 16:16:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7970: 1/1 successful episodes +[05/27 16:16:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8056 (index 90/115) +[05/27 16:16:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8056 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:16:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +Goal: place dark telephone next to table lamp +[2026-05-27 16:17:59,546] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:18:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:21:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 8056 episode 0 object objatelephone_6f17039417674bb7b44d5dd823cb1c72_1_0_2 completed with success=False +[05/27 16:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8056: 1 episodes +[05/27 16:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:21:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:21:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8056 +[05/27 16:21:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8056 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 16:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8056 +[05/27 16:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8056: 0/1 successful episodes +[05/27 16:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8125 (index 91/115) +[05/27 16:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8125 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place colorful cube next to dark rectangular plaque with engraved text +[2026-05-27 16:22:39,464] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:23:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:36:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 8125 episode 0 object objapuzzlecube_a330167eb4534097af6f386765b93f04_1_0_9 completed with success=False +[05/27 16:36:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8125: 1 episodes +[05/27 16:36:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:37:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:37:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8125 +[05/27 16:37:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8125 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 16:37:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8125 +[05/27 16:37:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8125: 0/1 successful episodes +[05/27 16:37:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8224 (index 92/115) +[05/27 16:37:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8224 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:37:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 16:37:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_7 in scene +Goal: place black wireless ergonomic mouse next to gray bowl +[2026-05-27 16:38:29,502] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:39:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:52:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 8224 episode 0 object objacomputermouse_2b70993763034bef8587d3730c7ca8ff_1_0_9 completed with success=False +[05/27 16:52:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8224: 1 episodes +[05/27 16:52:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:52:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:52:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8224 +[05/27 16:52:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8224 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 16:52:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8224 +[05/27 16:52:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8224: 0/1 successful episodes +[05/27 16:52:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8277 (index 93/115) +[05/27 16:52:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:52:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place antique dark metal knocker with figure next to black grenade with purple panels +[2026-05-27 16:54:05,875] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:54:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:04:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 8277 episode 0 object objadoorknocker_1186251805584e29b3fd39f83a54c8ae_1_0_2 completed with success=False +[05/27 17:04:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8277: 1 episodes +[05/27 17:04:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:04:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:04:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8277 +[05/27 17:04:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8277 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 17:04:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8277 +[05/27 17:04:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8277: 0/1 successful episodes +[05/27 17:04:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8386 (index 94/115) +[05/27 17:04:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8386 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 17:04:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 17:05:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_b931698a3f5f4fb2a1c27aae7f6120e2_1_0_5 in scene +[05/27 17:05:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +Goal: place wooden gear next to gray bowl +[2026-05-27 17:06:05,689] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:06:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:16:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 8386 episode 0 object objamechanicalmodel_dafd23d4b0c5400da70f6aaf5782457b_1_0_7 completed with success=False +[05/27 17:16:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8386: 1 episodes +[05/27 17:16:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:16:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8386 +[05/27 17:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8386 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 17:16:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8386 +[05/27 17:16:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8386: 0/1 successful episodes +[05/27 17:16:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8421 (index 95/115) +[05/27 17:16:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 8421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 17:16:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 17:16:43 Worker 0 WARNING object_manager.py:1238] Could not find object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_8 in scene +[05/27 17:16:43 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene +Goal: place cylindrical dark nhl pencilcase next to small red barn model with windows +[2026-05-27 17:17:48,134] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:18:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:34:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 8421 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4 completed with success=False +[05/27 17:34:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 17:34:22 Worker 0 WARNING object_manager.py:1238] Could not find object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_8 in scene +[05/27 17:34:22 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene +Goal: place crumpledpaper next to soap bottle +[2026-05-27 17:35:25,896] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:36:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:51:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 8421 episode 1 object objacrumpledpaper_bab9b0a4a3194165be4ac939c565d39f_1_0_2 completed with success=False +[05/27 17:51:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8421: 2 episodes +[05/27 17:51:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:51:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:51:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:51:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:51:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8421 +[05/27 17:51:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8421 in 5.58s (batch: 5.41s, save: 0.18s) +[05/27 17:51:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8421 +[05/27 17:51:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8421: 0/2 successful episodes +[05/27 17:51:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8428 (index 96/115) +[05/27 17:51:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 17:51:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 17:51:59 Worker 0 WARNING object_manager.py:1238] Could not find object objanameplate_e8fa71a9f9394ea68e6e60ac33f7f27d_1_0_7 in scene +[05/27 17:51:59 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodendowel_20ea40d2c37347e8831af61307c1f508_1_0_7 in scene +Goal: place chisel with wooden handle next to purple rectangular shiny quilted pillow +[2026-05-27 17:53:07,928] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:53:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:01:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8428 episode 0 object objachisel_d40e8b39928a45d6a81eebe1c3149883_1_0_2 completed with success=False +[05/27 18:01:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8428: 1 episodes +[05/27 18:01:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:01:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:01:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8428 +[05/27 18:01:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8428 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 18:01:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8428 +[05/27 18:01:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8428: 0/1 successful episodes +[05/27 18:01:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8506 (index 97/115) +[05/27 18:01:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8506 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:01:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/27 18:01:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaanimalmodel_f6e32918e34a420ca8f2207026242b7e_1_0_3 in scene +Goal: place round brown bread loaf next to red glass vase +[2026-05-27 18:02:26,485] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:03:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:09:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 8506 episode 0 object bread_41716c58b3d4c7691e7c0a1ca9c91854_1_0_2 completed with success=False +[05/27 18:10:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8506: 1 episodes +[05/27 18:10:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:10:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:10:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8506 +[05/27 18:10:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8506 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 18:10:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8506 +[05/27 18:10:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8506: 0/1 successful episodes +[05/27 18:10:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8627 (index 98/115) +[05/27 18:10:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8627 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:10:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/27 18:10:13 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_7 in scene +Goal: place spray bottle next to small stemmed red apple +[2026-05-27 18:11:18,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:11:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:21:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8627 episode 0 object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6 completed with success=False +[05/27 18:21:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8627: 1 episodes +[05/27 18:21:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:21:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:21:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8627 +[05/27 18:21:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8627 in 2.35s (batch: 2.27s, save: 0.09s) +[05/27 18:21:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8627 +[05/27 18:21:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8627: 0/1 successful episodes +[05/27 18:21:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8701 (index 99/115) +[05/27 18:21:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8701 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:21:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 18:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturecastletower_a08a00d32f694f219170f6867cbc7d46_2_0_5 in scene +[05/27 18:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetile_7584f83361f546ed890ae9aa823df1cb_1_0_5 in scene +Goal: place white rectangular electrical component next to digital clock +[2026-05-27 18:22:23,868] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:38:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8701 episode 0 object objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_1_0_6 completed with success=False +[05/27 18:38:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8701: 1 episodes +[05/27 18:38:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:38:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:38:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8701 +[05/27 18:38:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8701 in 2.83s (batch: 2.73s, save: 0.10s) +[05/27 18:38:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8701 +[05/27 18:38:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8701: 0/1 successful episodes +[05/27 18:38:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8795 (index 100/115) +[05/27 18:38:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:38:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place gray metal rod with perforated top next to angular dark stealth aircraft with wings +[2026-05-27 18:39:37,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:55:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 8795 episode 0 object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_2 completed with success=False +[05/27 18:55:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8795: 1 episodes +[05/27 18:55:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:55:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8795 +[05/27 18:55:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8795 in 2.33s (batch: 2.24s, save: 0.09s) +[05/27 18:55:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8795 +[05/27 18:55:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8795: 0/1 successful episodes +[05/27 18:55:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8878 (index 101/115) +[05/27 18:55:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8878 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:55:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 18:55:51 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_2 in scene +Goal: place polished gold handbell next to invertebrate +[2026-05-27 18:56:56,030] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:04:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 8878 episode 0 object objahandbell_44ac826f5fce46ff8fdcbdafd15d4258_1_0_3 completed with success=False +[05/27 19:04:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8878: 1 episodes +[05/27 19:04:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:04:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:04:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8878 +[05/27 19:04:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8878 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 19:04:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8878 +[05/27 19:04:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8878: 0/1 successful episodes +[05/27 19:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8950 (index 102/115) +[05/27 19:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8950 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place crumpled green nvidia package next to medium blue ceramic bowl with rim +[2026-05-27 19:06:20,610] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:06:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:20:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 8950 episode 0 object objapackage_a509f13063c642f9aa2f5a15aafa7f4e_1_0_8 completed with success=False +[05/27 19:20:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8950: 1 episodes +[05/27 19:20:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:20:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:20:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8950 +[05/27 19:20:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8950 in 2.36s (batch: 2.26s, save: 0.09s) +[05/27 19:20:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8950 +[05/27 19:20:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8950: 0/1 successful episodes +[05/27 19:20:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9020 (index 103/115) +[05/27 19:20:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9020 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:20:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 +[05/27 19:20:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 19:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 19:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 19:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 19:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 19:20:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the carton and place it next to the bronze statue of nude female' +[05/27 19:20:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 9020 episode 0/1 collected=0/2 +[05/27 19:20:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/27 19:20:18 Worker 0 WARNING object_manager.py:1238] Could not find object objafossil_7a6f6ef6a5054f3b92a5ba06f451d0b3_1_0_8 in scene +[05/27 19:20:18 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_8 in scene +Goal: place carton next to bronze statue of nude female +[2026-05-27 19:21:23,400] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:21:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:35:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9020 episode 0 object box_e7e029a9fdad1078011b9d2693eb5ef1_1_0_4 completed with success=False +[05/27 19:35:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9020: 1 episodes +[05/27 19:35:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:35:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:35:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9020 +[05/27 19:35:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9020 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 19:35:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9020 +[05/27 19:35:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9020: 0/1 successful episodes +[05/27 19:35:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9080 (index 104/115) +[05/27 19:35:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9080 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:35:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place sleek curved metal bottle opener next to yellow spiky hair bust silhouette +[2026-05-27 19:36:40,899] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:50:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 9080 episode 0 object objabottleopener_c64e41ddd1f84299b995b5fed1a3b43e_1_0_6 completed with success=False +[05/27 19:50:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9080: 1 episodes +[05/27 19:50:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:50:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:50:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9080 +[05/27 19:50:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9080 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 19:50:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9080 +[05/27 19:50:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9080: 0/1 successful episodes +[05/27 19:50:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9153 (index 105/115) +[05/27 19:50:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:50:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 19:51:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +Goal: place light wooden bridge with arches next to purple and yellow pixelated knife +[2026-05-27 19:52:05,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:04:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 9153 episode 0 object objamodelbridge_02217be5148946099483fb93a7e9ab0a_1_0_2 completed with success=False +[05/27 20:04:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9153: 1 episodes +[05/27 20:04:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:04:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:04:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9153 +[05/27 20:04:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9153 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 20:04:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9153 +[05/27 20:04:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9153: 0/1 successful episodes +[05/27 20:04:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9228 (index 106/115) +[05/27 20:04:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9228 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:04:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place pastry next to glossy brown goblet cup for beverages +[2026-05-27 20:05:29,971] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:06:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:15:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 9228 episode 0 object objapastry_7fda2ce0924e4628be50bb75701ba41c_1_0_6 completed with success=False +[05/27 20:15:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9228: 1 episodes +[05/27 20:15:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:15:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:15:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9228 +[05/27 20:15:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9228 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 20:15:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9228 +[05/27 20:15:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9228: 0/1 successful episodes +[05/27 20:15:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9305 (index 107/115) +[05/27 20:15:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9305 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:15:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 20:16:27 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_e31ea000207044df9a96178592bf27c8_1_0_5 in scene +[05/27 20:16:27 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place traditional wooden rubber stamp with metal next to yellow realme box +[2026-05-27 20:17:31,022] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:18:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:28:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9305 episode 0 object objarubberstamp_57b6ce9f7f0244e2b691d33c1bbde4ad_1_0_7 completed with success=False +[05/27 20:28:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9305: 1 episodes +[05/27 20:28:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:28:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:28:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9305 +[05/27 20:28:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9305 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 20:28:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9305 +[05/27 20:28:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9305: 0/1 successful episodes +[05/27 20:28:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9420 (index 108/115) +[05/27 20:28:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:28:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place tall vase with scalloped rim next to vintage wooden stamp handle +[2026-05-27 20:30:02,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:30:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:40:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 9420 episode 0 object vase_167c6c1d7784abbddfcb5d35cfc28d28_1_0_9 completed with success=False +[05/27 20:40:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9420: 1 episodes +[05/27 20:40:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:40:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:40:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9420 +[05/27 20:40:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9420 in 2.29s (batch: 2.19s, save: 0.09s) +[05/27 20:40:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9420 +[05/27 20:40:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9420: 0/1 successful episodes +[05/27 20:40:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9494 (index 109/115) +[05/27 20:40:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:40:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 20:41:11 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place white space shuttle with red markings next to blue bolster pillow +[2026-05-27 20:42:14,799] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:42:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:53:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 9494 episode 0 object objaspaceshuttlemodel_126c15b428494313a494c06822f2a756_1_0_7 completed with success=False +[05/27 20:53:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9494: 1 episodes +[05/27 20:53:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:53:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:53:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9494 +[05/27 20:53:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9494 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 20:53:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9494 +[05/27 20:53:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9494: 0/1 successful episodes +[05/27 20:53:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9541 (index 110/115) +[05/27 20:53:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:53:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/27 20:53:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaadjustablewrench_b3373981536640b98483a890d9a14060_1_0_2 in scene +[05/27 20:53:49 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_2 in scene +Goal: place pink wand with red sphere next to tall dark cup with ridges base +[2026-05-27 20:54:53,283] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:57:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 9541 episode 0 object objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_2 completed with success=False +[05/27 20:57:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9541: 1 episodes +[05/27 20:57:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:57:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:57:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9541 +[05/27 20:57:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9541 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 20:57:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9541 +[05/27 20:57:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9541: 0/1 successful episodes +[05/27 20:57:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9632 (index 111/115) +[05/27 20:57:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9632 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:57:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 20:57:15 Worker 0 WARNING object_manager.py:1238] Could not find object objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_5 in scene +[05/27 20:57:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_5 in scene +Goal: place transparent rectangular plastic storage container next to gray hardcover book with gold +[2026-05-27 20:58:21,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:58:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9632 episode 0 object objastoragecontainer_1d9ba0041c5c409d9823eef8e50dde9b_1_0_6 completed with success=False +[05/27 21:10:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9632: 1 episodes +[05/27 21:10:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:10:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:10:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9632 +[05/27 21:10:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9632 in 2.77s (batch: 2.67s, save: 0.09s) +[05/27 21:10:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9632 +[05/27 21:10:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9632: 0/1 successful episodes +[05/27 21:10:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9710 (index 112/115) +[05/27 21:10:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9710 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 21:10:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 21:11:04 Worker 0 WARNING object_manager.py:1238] Could not find object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_6 in scene +[05/27 21:11:04 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_7 in scene +Goal: place lavender soap bar with hole and emboss next to cream candle in blue holder +[2026-05-27 21:12:08,758] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:26:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 9710 episode 0 object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 completed with success=False +[05/27 21:26:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9710: 1 episodes +[05/27 21:26:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:26:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:26:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9710 +[05/27 21:26:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9710 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 21:26:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9710 +[05/27 21:26:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9710: 0/1 successful episodes +[05/27 21:26:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9821 (index 113/115) +[05/27 21:26:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9821 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 21:26:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 21:27:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaicon_c4a8fd71e3424524b20726223ee23883_1_0_7 in scene +Goal: place pink rectangular popsicle on stick next to medium oval brown potato with texture +[2026-05-27 21:28:04,552] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:28:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:43:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9821 episode 0 object objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_2 completed with success=False +[05/27 21:43:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9821: 1 episodes +[05/27 21:43:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:43:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:43:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9821 +[05/27 21:43:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9821 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 21:43:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9821 +[05/27 21:43:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9821: 0/1 successful episodes +[05/27 21:43:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9940 (index 114/115) +[05/27 21:43:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9940 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 21:43:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place black cross medal next to light blue dolphin with prominent fins +[2026-05-27 21:44:47,409] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:45:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:52:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 9940 episode 0 object objamedal_60d7eeb3f86343428d565e06d1e28703_1_0_2 completed with success=False +[05/27 21:52:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9940: 1 episodes +[05/27 21:52:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:52:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:52:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9940 +[05/27 21:52:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9940 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 21:52:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9940 +[05/27 21:52:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9940: 0/1 successful episodes +[05/27 21:52:34 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 21:52:35 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 21:52:35 INFO pipeline.py:1499] Success count: 4, Total count: 119 +[05/27 21:52:35 INFO pipeline.py:1500] Success rate: 3.36% +Combined 119 episodes from 115 files → /tmp/tmpk3xu8sg2.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv at-end: 3.36% | oracle: 3.36% of 119 episodes +[2026-05-27 21:52:48,847] INFO MolmoSpaces simulator eval finished: success=4/119 rate=0.0336 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval +[2026-05-27 21:52:48,847] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..ba2868824102e41e925b4816ae1c70f2abdaf6f2 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..729f1f557dfdf5effd53521109e0700c008e4e38 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/episode_results.jsonl @@ -0,0 +1,119 @@ +{"house_id": "house_1042", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hand mirror and place it next to the glossy russian doll with flowers", "object_name": "objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1042/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1170", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rugged green tactical mask with goggles and place it next to the glossy blue hexagonal emblem with letters", "object_name": "objatacticalmask_2ae79f9bdbba41a0a80e4bc0f8bfe95f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1170/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1234", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it next to the vintage minerva stopwatch beige", "object_name": "objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1234/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1328", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue and silver logo plaque and place it next to the green hardcover book titled the effective engineer", "object_name": "objalogoplaque_3debec4b2b6e4fc1b072828dbbdddac3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1328/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1388", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the geometric brown acorn shape and place it next to the slim blue phone device", "object_name": "objaacorn_421068a9395b496fa86c81792c20adc8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1388/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1504", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden mechanical clock with visible gears and place it next to the small wooden orange sailboat", "object_name": "objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1504/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1634", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green prism with dog and place it next to the translucent plastic ergonomic spray bottle", "object_name": "objaphotoblock_4d5340816228455a944a36753b977425_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1634/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1731", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic human hand and place it next to the shallow blue-gray metal frying pan", "object_name": "objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1731/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1778", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium dark metal pot and place it next to the nutrient", "object_name": "pot_3f96121c2844b96ea193d53feeb1602e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1778/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1907", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the detailed crucifix with figure and place it next to the laptop", "object_name": "objacrucifix_66cef9006e22443089458c6c5d990855_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1907/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2021", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tissue paper and place it next to the round orange pumpkin with curved stem", "object_name": "objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2021/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2041", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden corkscrew with lever and place it next to the gray moon", "object_name": "objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2041/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2165", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow device with antenna and eye symbol and place it next to the medium brown cardboard box open", "object_name": "objadecorativedevice_c866460d8cbc436b80b31c7eefb6d2d1_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2165/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2305", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden knight chess piece on base and place it next to the glossy black dog", "object_name": "objachesspiece_3e28ace90e6f43efaf5e4a19e8bd9cad_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2305/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2384", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful rubik's cube and place it next to the realistic human hand", "object_name": "objapuzzletoy_ff1c335452a24bdbb6e09d3443288085_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2384/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2478", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the heavy-duty metal shackle and place it next to the gray pyramid die with turquoise numbers", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2478/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2575", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green grenade with metal lever and base and place it next to the gray rectangular ethernet transceiver", "object_name": "objareplica_3a16fc6248a24c6787de8c5ffe4357a5_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2575/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2681", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the knurled metal cylinder silencer and place it next to the blue soap bottle", "object_name": "objasilencer_2697ccda6f8842828f833a7292cb68d9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2681/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2805", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black immersion blender and place it next to the yellow fountain pen with gold nib", "object_name": "objaimmersionblender_b44195533bc947af86f7e0eb9f0fdbce_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2805/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2885", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular dark insulation panel and place it next to the slim phone", "object_name": "objainsulationpanel_a06ecf98780b49ad891a166141119739_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2885/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2978", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy yellow vase and place it next to the dark gray coral with branches", "object_name": "vase_cb3703664cbf21eb7b79c941e5ea5d5b_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2978/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3096", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the reddish leather book with teeth and place it next to the small shiny gold dog statue", "object_name": "objafantasybook_db83a97ab5ba4c7891f73ff9dea43714_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3096/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3211", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden planer with metal grooves and place it next to the translucent ergonomic spray bottle", "object_name": "objahandplaner_ff4279a607284c2a9dc4c3a271eca247_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3211/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3269", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handheld tool and place it next to the translucent blue soap bottle", "object_name": "objahandheldtool_83a542c3f56a4e4f8f8017c94d9cf054_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3269/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3319", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the arthropod and place it next to the dark glossy hardcover book with gold", "object_name": "objamoth_a28d9a3820814921929228e03b35f041_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3319/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3397", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark brown ocarina with spiral tail and place it next to the dark laptop", "object_name": "objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3397/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3462", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black walkie-talkie device and place it next to the matte dark gray bowl", "object_name": "objawalkietalkie_8924c4e1bc4d4d33addb56a31fecb09a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3462/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3536", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the antique corkscrew with wooden handle and place it next to the textured mauve knitted beanie", "object_name": "objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3536/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3561", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the walkie talkie and place it next to the white hardcover programming book", "object_name": "objawalkietalkie_a480d67491c54b39ba992becac97ca5e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3561/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3561", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the motion-picture camera and place it next to the white virus model with red spikes", "object_name": "objamoviecamera_b80246878f17451184b098df7b081cb7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3561/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3647", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal spatula with slots and handle and place it next to the european dragon", "object_name": "objaspatula_80870db1713949d5a750f510a6dbce54_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3647/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3746", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the eggs and place it next to the cookware", "object_name": "egg_458c762f78242a821082a457af28fe5c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3746/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3795", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall tower with red roof and windows and place it next to the polished gray human hand", "object_name": "objamodelbuilding_a4d581e238fd44bcbc5c47dddafc3952_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3795/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3924", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate green dragon goblet and place it next to the speaker unit", "object_name": "objadecorativegoblet_36e0c8e1fb7d4556805e0a46a80ddea7_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3924/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4063", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black metal scope mount with knob and place it next to the thick blue hardcover book with pages", "object_name": "objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4063/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4151", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rectangular device with pin screen and place it next to the small shiny gold dog statue", "object_name": "objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4151/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4234", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular weathered wood with moss and place it next to the smooth translucent plastic cup", "object_name": "objadecorativewoodpiece_47bc008c241141a68eac85c8c997ff74_1_0_8", "data_file_path": 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"task_description": "Pick up the mechanical clock and place it next to the laptop computer", "object_name": "objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4327/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4349", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green handheld barcode scanner and place it next to the beige pillow", "object_name": "objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_3", "data_file_path": 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"metadata": {}} +{"house_id": "house_4802", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the kokeshi doll and place it next to the thick blue hardcover programming book", "object_name": "objakokeshidoll_d3c152a1c4154f279cb590b6643e1640_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4802/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4882", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the fire department connection and place it next to the vintage black ricoh kr-5 camera", "object_name": "objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_2", "data_file_path": 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"task_description": "Pick up the green and yellow sponge and place it next to the spray bottle", "object_name": "objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5388/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5464", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 132, "task_description": "Pick up the brown wooden screwdriver and place it next to the blue square plate", "object_name": "objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_6", "data_file_path": 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"task_description": "Pick up the black and red pixelated figure and place it next to the small red barn model with windows", "object_name": "objaabstractfigure_2b7ff505ad10442ea162476b4e00e408_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5618/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5672", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the turquoise decorative hourglass with beads and place it next to the yellow wooden pencil", "object_name": "objadecorativehourglass_b7df02cc3f844d2a9b39d4f215c3931d_1_0_9", "data_file_path": 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the yellow pencil with pink eraser and place it next to the white pillow", "object_name": "objapencil_a405129f76194666aace56c08219e94c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5786/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5898", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small ceramic church model with steeple and place it next to the bulbous shiny gold vase", "object_name": "objaceramicmodel_45b9548330234d4b93cae76cd2f00521_1_0_7", "data_file_path": 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"metadata": {}} +{"house_id": "house_6208", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the minimalist matte rectangular name plaque and place it next to the vintage metal box", "object_name": "objaplaque_42aafcfc945b4f8d98e5401ca29051cc_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6208/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_622", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentality and place it next to the red toy van", "object_name": "objapipecutter_9113b144802144b683d8db86f7d7388c_1_0_6", "data_file_path": 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"task_description": "Pick up the turquoise cardboard notebook and place it next to the driftwood", "object_name": "objanotebook_a8c59f42000e4d3a9f483c289fd09512_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6325/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6396", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ceramiccat and place it next to the dark teal box", "object_name": "objaceramiccat_eda025dda9404765b762d841da229c33_1_0_4", "data_file_path": 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"task_description": "Pick up the sleek black handheld vacuum with yellow and place it next to the bulbous shiny gold vase", "object_name": "objahandheldvacuumcleaner_61bd367277d2471bbe28c9ff7ef227a1_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6485/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6492", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rubber air blower and place it next to the spray paint", "object_name": "objaairblower_c1894126b3394345835758d674b7435e_2_0_4", "data_file_path": 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"task_description": "Pick up the light gray stone chess knight and place it next to the rectangular card with squid", "object_name": "objachesspiece_11048451bddc416eb4872caad8f0ba35_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7774/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7857", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 56, "task_description": "Pick up the black rectangular device with pin screen and place it next to the blue egg with yellow moon spots", "object_name": "objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_2", "data_file_path": 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brown blue chocolate package and place it next to the large red tomato", "object_name": "objasnackpackage_943e5e9691ef4f6fb41c851d2892d988_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_867/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8720", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small gray smooth cup and place it next to the black and white book", "object_name": "cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6", "data_file_path": 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"task_description": "Pick up the bulbous shiny gold metallic vase and place it next to the small oval brown potato", "object_name": "vase_d568e4c5c2948c69c05d527517276b06_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8881/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8952", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red compact handheld device with label and place it next to the smooth light ceramic bowl", "object_name": "objatool_9796cef620844a89ad045826ed1ae1d1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8952/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9022", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth yellow apple with stem and place it next to the fresh green lettuce", "object_name": "apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9022/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9087", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the miniature trafficlight with red light and place it next to the slim rectangular red phone device", "object_name": "objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9087/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9152", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic needle-nose pliers with grips and place it next to the smooth gray bowl", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9152/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9152", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red futuristic handheld device with grip and place it next to the black stylized handgun with blue accents", "object_name": "objatoygun_8a193bd9d7944b5baf2031f5fb80a7a3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9152/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9156", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the locking pliers and place it next to the soapdispenser", "object_name": "objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9156/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9234", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful flower and place it next to the oval brown potato", "object_name": "objaflowersculpture_4d3f1c2044814320af551030c3bf0e9d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9234/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9308", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden humanoid puzzle piece and place it next to the shiny gold vase", "object_name": "objapuzzlepiece_2dbbd65cb2614e8481d2b1f0760c37a8_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9308/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_939", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall white candlestick and place it next to the vintage light fabric pith helmet", "object_name": "objacandlestick_dba5865de3da40b0bc3482242a32db46_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_939/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9422", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal cat and place it next to the rustic round beige ceramic plate", "object_name": "objaceramiccat_eda025dda9404765b762d841da229c33_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9422/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9496", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the movie camera and place it next to the green floral wedding invitation", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9496/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9554", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spray paint can and place it next to the olive scalloped ceramic plate", "object_name": "objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9554/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9642", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white aerosol can with rusted top and place it next to the white tape dispenser", "object_name": "objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9642/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9719", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark vintage rectangular chocolate mold and place it next to the sleek black toaster with red sides", "object_name": "objachocolatemold_f410c9f5784d435ea17c89e2f51bc439_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9719/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9886", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the turquoise can and place it next to the brown loaf bread", "object_name": "objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9886/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9958", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved ceramic tube and place it next to the yellow apple with stem", "object_name": "objapipe_bf11f43f2d674918b4618bfbacaef123_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9958/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..8d2c434b02c6b4ab9068c30e5cea9ef16b8503f2 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/eval.log @@ -0,0 +1,3710 @@ +[2026-05-26 19:43:51,410] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,411] INFO Using MuJoCo EGL device id: 7 +[2026-05-26 19:43:51,411] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,443] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 (source=arg) +[2026-05-26 19:43:53,314] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:02,744] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,279] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,753] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,236] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [576, + 622, + 691, + 732, + 791, + 867, + 939, + 1042, + 1170, + 1234, + 1328, + 1388, + 1504, + 1634, + 1731, + 1778, + 1907, + 2021, + 2041, + 2165, + 2305, + 2384, + 2478, + 2575, + 2681, + 2805, + 2885, + 2978, + 3096, + 3211, + 3269, + 3319, + 3397, + 3462, + 3536, + 3561, + 3647, + 3746, + 3795, + 3924, + 4063, + 4151, + 4234, + 4292, + 4327, + 4349, + 4403, + 4497, + 4623, + 4682, + 4726, + 4802, + 4882, + 4974, + 5097, + 5172, + 5211, + 5388, + 5464, + 5548, + 5618, + 5672, + 5786, + 5898, + 5959, + 6069, + 6144, + 6208, + 6271, + 6325, + 6396, + 6485, + 6492, + 6591, + 6721, + 6788, + 6911, + 6981, + 7030, + 7097, + 7177, + 7301, + 7348, + 7405, + 7472, + 7569, + 7672, + 7774, + 7857, + 7973, + 8064, + 8136, + 8231, + 8303, + 8388, + 8447, + 8537, + 8643, + 8720, + 8805, + 8881, + 8952, + 9022, + 9087, + 9152, + 9156, + 9234, + 9308, + 9422, + 9496, + 9554, + 9642, + 9719, + 9886, + 9958], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,241] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 576 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place tan sandal with block heel straps next to blue torch +2026-05-26 19:48:35.201 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:36,166] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:36,817] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:37,347] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:37,546] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:37,550] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:59:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 576 episode 0 object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_5 completed with success=False +[05/26 19:59:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_576: 1 episodes +[05/26 19:59:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:59:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:59:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_576 +[05/26 19:59:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_576 in 2.44s (batch: 2.34s, save: 0.10s) +[05/26 19:59:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_576 +[05/26 19:59:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 576: 0/1 successful episodes +[05/26 19:59:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 622 (index 1/115) +[05/26 19:59:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 19:59:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place instrumentality next to red toy van +[2026-05-26 20:01:11,248] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:01:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:10:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 622 episode 0 object objapipecutter_9113b144802144b683d8db86f7d7388c_1_0_6 completed with success=False +[05/26 20:10:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_622: 1 episodes +[05/26 20:10:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:10:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:10:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_622 +[05/26 20:10:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_622 in 2.85s (batch: 2.75s, save: 0.09s) +[05/26 20:10:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_622 +[05/26 20:10:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 622: 0/1 successful episodes +[05/26 20:10:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 691 (index 2/115) +[05/26 20:10:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 691 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:10:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place flat gray metal ring next to tall white candle in holder +[2026-05-26 20:11:55,952] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:22:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 691 episode 0 object objawasher_694066aa6e0a46db95f476ad8c951951_1_0_7 completed with success=False +[05/26 20:22:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_691: 1 episodes +[05/26 20:22:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:22:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:22:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_691 +[05/26 20:22:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_691 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 20:22:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_691 +[05/26 20:22:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 691: 0/1 successful episodes +[05/26 20:22:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 732 (index 3/115) +[05/26 20:22:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 732 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:22:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place ornate finial next to colorful purple accordion with keyboard +[2026-05-26 20:24:04,036] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:24:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:36:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 732 episode 0 object objafinial_7e55982574974d22863ea0ddb370ffe5_1_0_9 completed with success=False +[05/26 20:36:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_732: 1 episodes +[05/26 20:36:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:36:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:36:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_732 +[05/26 20:36:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_732 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 20:36:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_732 +[05/26 20:36:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 732: 0/1 successful episodes +[05/26 20:36:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 791 (index 4/115) +[05/26 20:36:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 791 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:36:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 20:37:07 Worker 0 WARNING object_manager.py:1238] Could not find object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_4 in scene +[05/26 20:37:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativespike_518021839cf544f0b89865ab495c885b_1_0_4 in scene +Goal: place holographicprojector next to dark glossy hardcover book +[2026-05-26 20:38:05,378] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:38:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:52:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 791 episode 0 object objaholographicprojector_9860e2270f1245698995adce759c187f_1_0_4 completed with success=False +[05/26 20:52:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_791: 1 episodes +[05/26 20:52:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:52:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:52:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_791 +[05/26 20:52:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_791 in 2.42s (batch: 2.32s, save: 0.09s) +[05/26 20:52:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_791 +[05/26 20:52:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 791: 0/1 successful episodes +[05/26 20:52:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 867 (index 5/115) +[05/26 20:52:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:52:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place brown blue chocolate package next to large red tomato +[2026-05-26 20:53:58,977] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:54:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:09:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 867 episode 0 object objasnackpackage_943e5e9691ef4f6fb41c851d2892d988_1_0_8 completed with success=False +[05/26 21:09:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_867: 1 episodes +[05/26 21:09:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:09:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:09:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_867 +[05/26 21:09:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_867 in 2.41s (batch: 2.32s, save: 0.09s) +[05/26 21:09:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_867 +[05/26 21:09:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 867: 0/1 successful episodes +[05/26 21:09:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 939 (index 6/115) +[05/26 21:09:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:09:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place tall white candlestick next to vintage light fabric pith helmet +[2026-05-26 21:10:26,637] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:11:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:17:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 939 episode 0 object objacandlestick_dba5865de3da40b0bc3482242a32db46_1_0_2 completed with success=False +[05/26 21:17:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_939: 1 episodes +[05/26 21:17:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:17:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:17:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_939 +[05/26 21:17:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_939 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 21:17:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_939 +[05/26 21:17:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 939: 0/1 successful episodes +[05/26 21:17:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1042 (index 7/115) +[05/26 21:17:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1042 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:17:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place hand mirror next to glossy russian doll with flowers +[2026-05-26 21:19:04,550] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:32:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 1042 episode 0 object objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_1_0_7 completed with success=False +[05/26 21:32:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1042: 1 episodes +[05/26 21:32:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:32:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:32:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1042 +[05/26 21:32:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1042 in 2.85s (batch: 2.76s, save: 0.09s) +[05/26 21:32:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1042 +[05/26 21:32:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1042: 0/1 successful episodes +[05/26 21:32:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1170 (index 8/115) +[05/26 21:32:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1170 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:32:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place rugged green tactical mask with goggles next to glossy blue hexagonal emblem with letters +[2026-05-26 21:34:03,013] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:34:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:45:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 1170 episode 0 object objatacticalmask_2ae79f9bdbba41a0a80e4bc0f8bfe95f_1_0_5 completed with success=False +[05/26 21:46:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1170: 1 episodes +[05/26 21:46:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1170 +[05/26 21:46:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1170 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 21:46:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1170 +[05/26 21:46:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1170: 0/1 successful episodes +[05/26 21:46:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1234 (index 9/115) +[05/26 21:46:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:46:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place instrumentation next to vintage minerva stopwatch beige +[2026-05-26 21:47:07,168] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:47:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:52:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 1234 episode 0 object objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_2 completed with success=False +[05/26 21:52:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1234: 1 episodes +[05/26 21:52:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:52:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:52:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1234 +[05/26 21:52:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1234 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 21:52:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1234 +[05/26 21:52:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1234: 0/1 successful episodes +[05/26 21:52:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1328 (index 10/115) +[05/26 21:52:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1328 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:52:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue and silver logo plaque next to green hardcover book titled the effective engineer +[2026-05-26 21:53:42,348] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:54:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:03:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 1328 episode 0 object objalogoplaque_3debec4b2b6e4fc1b072828dbbdddac3_1_0_7 completed with success=False +[05/26 22:03:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1328: 1 episodes +[05/26 22:03:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:04:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:04:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1328 +[05/26 22:04:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1328 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 22:04:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1328 +[05/26 22:04:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1328: 0/1 successful episodes +[05/26 22:04:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1388 (index 11/115) +[05/26 22:04:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:04:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 22:04:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_5 in scene +[05/26 22:04:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +Goal: place geometric brown acorn shape next to slim blue phone device +[2026-05-26 22:05:41,303] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:06:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:23:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 1388 episode 0 object objaacorn_421068a9395b496fa86c81792c20adc8_1_0_2 completed with success=False +[05/26 22:23:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1388: 1 episodes +[05/26 22:23:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:23:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:23:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1388 +[05/26 22:23:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1388 in 2.79s (batch: 2.70s, save: 0.09s) +[05/26 22:23:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1388 +[05/26 22:23:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1388: 0/1 successful episodes +[05/26 22:23:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1504 (index 12/115) +[05/26 22:23:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:23:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/26 22:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 in scene +[05/26 22:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +Goal: place wooden mechanical clock with visible gears next to small wooden orange sailboat +[2026-05-26 22:24:18,923] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:24:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:40:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1504 episode 0 object objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_8 completed with success=False +[05/26 22:40:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1504: 1 episodes +[05/26 22:40:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:40:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:40:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1504 +[05/26 22:40:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1504 in 2.81s (batch: 2.72s, save: 0.10s) +[05/26 22:40:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1504 +[05/26 22:40:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1504: 0/1 successful episodes +[05/26 22:40:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1634 (index 13/115) +[05/26 22:40:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:40:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 22:40:23 Worker 0 WARNING object_manager.py:1238] Could not find object vase_485850bef5e28630dd1156aaec2e3528_1_0_7 in scene +Goal: place glossy green prism with dog next to translucent plastic ergonomic spray bottle +[2026-05-26 22:41:26,128] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:57:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 1634 episode 0 object objaphotoblock_4d5340816228455a944a36753b977425_1_0_2 completed with success=False +[05/26 22:57:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1634: 1 episodes +[05/26 22:57:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:58:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:58:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1634 +[05/26 22:58:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1634 in 2.51s (batch: 2.41s, save: 0.09s) +[05/26 22:58:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1634 +[05/26 22:58:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1634: 0/1 successful episodes +[05/26 22:58:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1731 (index 14/115) +[05/26 22:58:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1731 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:58:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/26 22:58:16 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_58a2d909109c9f3ccdc7e7da4e8d0d5c_1_0_2 in scene +Goal: place realistic human hand next to shallow blue-gray metal frying pan +[2026-05-26 22:59:20,291] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:59:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:04:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 1731 episode 0 object objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_2 completed with success=False +[05/26 23:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1731: 1 episodes +[05/26 23:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:04:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:04:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1731 +[05/26 23:04:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1731 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 23:04:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1731 +[05/26 23:04:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1731: 0/1 successful episodes +[05/26 23:04:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1778 (index 15/115) +[05/26 23:04:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1778 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:04:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +Goal: place medium dark metal pot next to nutrient +[2026-05-26 23:06:23,097] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:06:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:08:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1778 episode 0 object pot_3f96121c2844b96ea193d53feeb1602e_1_0_2 completed with success=False +[05/26 23:08:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1778: 1 episodes +[05/26 23:08:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:08:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:08:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1778 +[05/26 23:08:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1778 in 2.68s (batch: 2.60s, save: 0.09s) +[05/26 23:08:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1778 +[05/26 23:08:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1778: 0/1 successful episodes +[05/26 23:08:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1907 (index 16/115) +[05/26 23:08:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:08:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place detailed crucifix with figure next to laptop +[2026-05-26 23:09:31,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:26:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 1907 episode 0 object objacrucifix_66cef9006e22443089458c6c5d990855_1_0_6 completed with success=False +[05/26 23:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1907: 1 episodes +[05/26 23:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:27:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:27:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1907 +[05/26 23:27:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1907 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 23:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1907 +[05/26 23:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1907: 0/1 successful episodes +[05/26 23:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2021 (index 17/115) +[05/26 23:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2021 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place tissue paper next to round orange pumpkin with curved stem +[2026-05-26 23:28:10,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:28:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:41:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 2021 episode 0 object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 completed with success=False +[05/26 23:41:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2021: 1 episodes +[05/26 23:41:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:41:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:41:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2021 +[05/26 23:41:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2021 in 2.68s (batch: 2.59s, save: 0.09s) +[05/26 23:41:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2021 +[05/26 23:41:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2021: 0/1 successful episodes +[05/26 23:41:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2041 (index 18/115) +[05/26 23:41:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:41:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place vintage wooden corkscrew with lever next to gray moon +[2026-05-26 23:42:38,006] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:43:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:54:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 2041 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4 completed with success=False +[05/26 23:54:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2041: 1 episodes +[05/26 23:54:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:54:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:54:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2041 +[05/26 23:54:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2041 in 2.37s (batch: 2.28s, save: 0.09s) +[05/26 23:54:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2041 +[05/26 23:54:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2041: 0/1 successful episodes +[05/26 23:54:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2165 (index 19/115) +[05/26 23:54:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:54:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 23:57:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_6 in scene +Goal: place yellow device with antenna and eye symbol next to medium brown cardboard box open +[2026-05-26 23:58:53,767] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:59:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:13:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 2165 episode 0 object objadecorativedevice_c866460d8cbc436b80b31c7eefb6d2d1_1_0_3 completed with success=False +[05/27 00:13:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2165: 1 episodes +[05/27 00:13:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:13:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:13:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2165 +[05/27 00:13:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2165 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 00:13:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2165 +[05/27 00:13:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2165: 0/1 successful episodes +[05/27 00:13:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2305 (index 20/115) +[05/27 00:13:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2305 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:13:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place golden knight chess piece on base next to glossy black dog +[2026-05-27 00:18:02,423] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:35:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2305 episode 0 object objachesspiece_3e28ace90e6f43efaf5e4a19e8bd9cad_1_0_3 completed with success=False +[05/27 00:35:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2305: 1 episodes +[05/27 00:35:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:35:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:35:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2305 +[05/27 00:35:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2305 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 00:35:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2305 +[05/27 00:35:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2305: 0/1 successful episodes +[05/27 00:35:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2384 (index 21/115) +[05/27 00:35:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:35:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place colorful rubik's cube next to realistic human hand +[2026-05-27 00:36:53,702] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:37:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:44:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 2384 episode 0 object objapuzzletoy_ff1c335452a24bdbb6e09d3443288085_1_0_2 completed with success=False +[05/27 00:44:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2384: 1 episodes +[05/27 00:44:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:44:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:44:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2384 +[05/27 00:44:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2384 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 00:44:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2384 +[05/27 00:44:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2384: 0/1 successful episodes +[05/27 00:44:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2478 (index 22/115) +[05/27 00:44:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:44:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object objagluebottle_8f91c8457fec4204a76dad9b5fd9d0df_1_0_6 in scene +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac6a1b74f35572c9a1a82922f273449a_1_0_6 in scene +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_7 in scene +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object plate_99ade04d632d7c28dd28877c7fb44406_1_0_7 in scene +Goal: place heavy-duty metal shackle next to gray pyramid die with turquoise numbers +[2026-05-27 00:45:30,340] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:46:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:54:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 2478 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False +[05/27 00:54:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2478: 1 episodes +[05/27 00:54:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:54:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:54:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2478 +[05/27 00:54:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2478 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 00:54:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2478 +[05/27 00:54:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2478: 0/1 successful episodes +[05/27 00:54:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2575 (index 23/115) +[05/27 00:54:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2575 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:54:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_2_0_5 in scene +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_9 in scene +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 in scene +Goal: place green grenade with metal lever and base next to gray rectangular ethernet transceiver +[2026-05-27 00:57:02,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:16:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 2575 episode 0 object objareplica_3a16fc6248a24c6787de8c5ffe4357a5_1_0_4 completed with success=False +[05/27 01:16:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2575: 1 episodes +[05/27 01:16:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:16:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2575 +[05/27 01:16:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2575 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 01:16:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2575 +[05/27 01:16:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2575: 0/1 successful episodes +[05/27 01:16:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2681 (index 24/115) +[05/27 01:16:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2681 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 01:16:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 01:17:05 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 01:17:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +Goal: place knurled metal cylinder silencer next to blue soap bottle +[2026-05-27 01:18:08,191] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:18:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:30:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 2681 episode 0 object objasilencer_2697ccda6f8842828f833a7292cb68d9_1_0_8 completed with success=False +[05/27 01:30:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2681: 1 episodes +[05/27 01:30:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:30:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:30:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2681 +[05/27 01:30:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2681 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 01:30:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2681 +[05/27 01:30:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2681: 0/1 successful episodes +[05/27 01:30:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2805 (index 25/115) +[05/27 01:30:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2805 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 01:30:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place sleek black immersion blender next to yellow fountain pen with gold nib +[2026-05-27 01:31:56,618] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:32:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:42:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 2805 episode 0 object objaimmersionblender_b44195533bc947af86f7e0eb9f0fdbce_1_0_6 completed with success=False +[05/27 01:42:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2805: 1 episodes +[05/27 01:42:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:42:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:42:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2805 +[05/27 01:42:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2805 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 01:42:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2805 +[05/27 01:42:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2805: 0/1 successful episodes +[05/27 01:42:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2885 (index 26/115) +[05/27 01:42:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 01:42:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +Goal: place rectangular dark insulation panel next to slim phone +[2026-05-27 01:43:55,127] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:04:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 2885 episode 0 object objainsulationpanel_a06ecf98780b49ad891a166141119739_1_0_4 completed with success=False +[05/27 02:04:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2885: 1 episodes +[05/27 02:04:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:04:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:04:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2885 +[05/27 02:04:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2885 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 02:04:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2885 +[05/27 02:04:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2885: 0/1 successful episodes +[05/27 02:04:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2978 (index 27/115) +[05/27 02:04:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:04:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place glossy yellow vase next to dark gray coral with branches +[2026-05-27 02:05:22,897] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:05:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:14:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2978 episode 0 object vase_cb3703664cbf21eb7b79c941e5ea5d5b_1_0_7 completed with success=False +[05/27 02:14:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2978: 1 episodes +[05/27 02:14:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:14:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:14:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2978 +[05/27 02:14:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2978 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 02:14:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2978 +[05/27 02:14:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2978: 0/1 successful episodes +[05/27 02:14:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3096 (index 28/115) +[05/27 02:14:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3096 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:14:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place reddish leather book with teeth next to small shiny gold dog statue +[2026-05-27 02:15:56,219] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:23:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3096 episode 0 object objafantasybook_db83a97ab5ba4c7891f73ff9dea43714_1_0_3 completed with success=False +[05/27 02:23:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3096: 1 episodes +[05/27 02:23:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:23:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:23:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3096 +[05/27 02:23:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3096 in 2.46s (batch: 2.36s, save: 0.10s) +[05/27 02:23:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3096 +[05/27 02:23:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3096: 0/1 successful episodes +[05/27 02:23:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3211 (index 29/115) +[05/27 02:23:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:23:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place vintage wooden planer with metal grooves next to translucent ergonomic spray bottle +[2026-05-27 02:24:53,014] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:25:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:32:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3211 episode 0 object objahandplaner_ff4279a607284c2a9dc4c3a271eca247_1_0_2 completed with success=False +[05/27 02:32:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3211: 1 episodes +[05/27 02:32:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:32:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:32:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3211 +[05/27 02:32:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3211 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 02:32:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3211 +[05/27 02:32:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3211: 0/1 successful episodes +[05/27 02:32:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3269 (index 30/115) +[05/27 02:32:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3269 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:32:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place handheld tool next to translucent blue soap bottle +[2026-05-27 02:34:01,589] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:34:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:51:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 3269 episode 0 object objahandheldtool_83a542c3f56a4e4f8f8017c94d9cf054_1_0_2 completed with success=False +[05/27 02:51:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3269: 1 episodes +[05/27 02:51:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:51:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:51:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3269 +[05/27 02:51:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3269 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 02:51:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3269 +[05/27 02:51:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3269: 0/1 successful episodes +[05/27 02:51:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3319 (index 31/115) +[05/27 02:51:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:51:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place arthropod next to dark glossy hardcover book with gold +[2026-05-27 02:53:00,732] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:53:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:07:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 3319 episode 0 object objamoth_a28d9a3820814921929228e03b35f041_1_0_4 completed with success=False +[05/27 03:07:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3319: 1 episodes +[05/27 03:07:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:07:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:07:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3319 +[05/27 03:07:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3319 in 2.46s (batch: 2.36s, save: 0.09s) +[05/27 03:07:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3319 +[05/27 03:07:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3319: 0/1 successful episodes +[05/27 03:07:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3397 (index 32/115) +[05/27 03:07:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3397 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:07:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_2_0_5 in scene +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place dark brown ocarina with spiral tail next to dark laptop +[2026-05-27 03:08:28,111] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:09:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:18:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 3397 episode 0 object objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_7 completed with success=False +[05/27 03:18:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3397: 1 episodes +[05/27 03:18:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:18:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:18:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3397 +[05/27 03:18:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3397 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 03:18:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3397 +[05/27 03:18:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3397: 0/1 successful episodes +[05/27 03:18:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3462 (index 33/115) +[05/27 03:18:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3462 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:18:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 03:18:43 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 in scene +[05/27 03:18:43 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_2_0_3 in scene +Goal: place black walkie-talkie device next to matte dark gray bowl +[2026-05-27 03:19:46,246] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:20:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:31:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3462 episode 0 object objawalkietalkie_8924c4e1bc4d4d33addb56a31fecb09a_1_0_6 completed with success=False +[05/27 03:32:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3462: 1 episodes +[05/27 03:32:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:32:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:32:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3462 +[05/27 03:32:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3462 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 03:32:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3462 +[05/27 03:32:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3462: 0/1 successful episodes +[05/27 03:32:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3536 (index 34/115) +[05/27 03:32:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:32:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +Goal: place antique corkscrew with wooden handle next to textured mauve knitted beanie +[2026-05-27 03:33:28,658] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:51:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3536 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4 completed with success=False +[05/27 03:51:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3536: 1 episodes +[05/27 03:51:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:51:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:51:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3536 +[05/27 03:51:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3536 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 03:51:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3536 +[05/27 03:51:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3536: 0/1 successful episodes +[05/27 03:51:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3561 (index 35/115) +[05/27 03:51:39 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:51:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place walkie talkie next to white hardcover programming book +[2026-05-27 03:52:50,601] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:53:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:04:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3561 episode 0 object objawalkietalkie_a480d67491c54b39ba992becac97ca5e_1_0_4 completed with success=False +[05/27 04:04:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place motion-picture camera next to white virus model with red spikes +[2026-05-27 04:05:53,342] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:17:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 3561 episode 1 object objamoviecamera_b80246878f17451184b098df7b081cb7_1_0_6 completed with success=False +[05/27 04:17:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3561: 2 episodes +[05/27 04:17:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:17:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:17:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:17:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:17:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3561 +[05/27 04:17:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3561 in 4.94s (batch: 4.77s, save: 0.17s) +[05/27 04:17:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3561 +[05/27 04:17:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3561: 0/2 successful episodes +[05/27 04:17:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3647 (index 36/115) +[05/27 04:17:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3647 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:17:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 04:17:47 Worker 0 WARNING object_manager.py:1238] Could not find object objabread_3781314af1954867a5eb2bca6c18a955_1_0_2 in scene +[05/27 04:17:47 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene +[05/27 04:17:47 Worker 0 WARNING object_manager.py:1238] Could not find object objareligiousicon_eb6f9f0bf68943a2b5d85ce40fe2c6f9_1_0_3 in scene +Goal: place metal spatula with slots and handle next to european dragon +[2026-05-27 04:18:51,512] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:19:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:37:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 3647 episode 0 object objaspatula_80870db1713949d5a750f510a6dbce54_1_0_2 completed with success=False +[05/27 04:37:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3647: 1 episodes +[05/27 04:37:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:37:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:37:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3647 +[05/27 04:37:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3647 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 04:37:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3647 +[05/27 04:37:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3647: 0/1 successful episodes +[05/27 04:37:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3746 (index 37/115) +[05/27 04:37:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3746 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:37:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place eggs next to cookware +[2026-05-27 04:39:03,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:39:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:40:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3746 episode 0 object egg_458c762f78242a821082a457af28fe5c_1_0_2 completed with success=False +[05/27 04:40:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3746: 1 episodes +[05/27 04:40:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:40:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:40:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3746 +[05/27 04:40:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3746 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 04:40:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3746 +[05/27 04:40:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3746: 0/1 successful episodes +[05/27 04:40:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3795 (index 38/115) +[05/27 04:40:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:40:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place tall tower with red roof and windows next to polished gray human hand +[2026-05-27 04:41:59,603] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:42:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:48:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 3795 episode 0 object objamodelbuilding_a4d581e238fd44bcbc5c47dddafc3952_1_0_3 completed with success=False +[05/27 04:48:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3795: 1 episodes +[05/27 04:48:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:48:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:48:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3795 +[05/27 04:48:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3795 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 04:48:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3795 +[05/27 04:48:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3795: 0/1 successful episodes +[05/27 04:48:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3924 (index 39/115) +[05/27 04:48:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3924 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:48:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place intricate green dragon goblet next to speaker unit +[2026-05-27 04:50:03,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:50:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:02:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 3924 episode 0 object objadecorativegoblet_36e0c8e1fb7d4556805e0a46a80ddea7_1_0_9 completed with success=False +[05/27 05:02:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3924: 1 episodes +[05/27 05:02:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:02:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:02:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3924 +[05/27 05:02:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3924 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 05:02:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3924 +[05/27 05:02:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3924: 0/1 successful episodes +[05/27 05:02:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4063 (index 40/115) +[05/27 05:02:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4063 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:02:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place black metal scope mount with knob next to thick blue hardcover book with pages +[2026-05-27 05:03:44,259] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:10:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4063 episode 0 object objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_3 completed with success=False +[05/27 05:10:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4063: 1 episodes +[05/27 05:10:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:10:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:10:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4063 +[05/27 05:10:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4063 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 05:10:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4063 +[05/27 05:10:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4063: 0/1 successful episodes +[05/27 05:10:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4151 (index 41/115) +[05/27 05:10:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4151 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:10:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/27 05:10:50 Worker 0 WARNING object_manager.py:1238] Could not find object objaruggedtablet_7d98faec09a24d07aed03df9b648c7a9_1_0_2 in scene +Goal: place black rectangular device with pin screen next to small shiny gold dog statue +[2026-05-27 05:11:53,685] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:22:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 4151 episode 0 object objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_7 completed with success=False +[05/27 05:22:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4151: 1 episodes +[05/27 05:22:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:22:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:22:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4151 +[05/27 05:22:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4151 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 05:22:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4151 +[05/27 05:22:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4151: 0/1 successful episodes +[05/27 05:22:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4234 (index 42/115) +[05/27 05:22:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:22:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place rectangular weathered wood with moss next to smooth translucent plastic cup +[2026-05-27 05:23:33,424] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:39:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4234 episode 0 object objadecorativewoodpiece_47bc008c241141a68eac85c8c997ff74_1_0_8 completed with success=False +[05/27 05:39:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4234: 1 episodes +[05/27 05:39:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:39:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:39:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4234 +[05/27 05:39:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4234 in 2.50s (batch: 2.40s, save: 0.09s) +[05/27 05:39:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4234 +[05/27 05:39:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4234: 0/1 successful episodes +[05/27 05:39:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4292 (index 43/115) +[05/27 05:39:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:39:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place spinning top next to burnt parchment with spiral engravings +[2026-05-27 05:40:45,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:41:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:55:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4292 episode 0 object objaspinningtop_8ad13f2440be46aeafeae71875ec2820_1_0_6 completed with success=False +[05/27 05:55:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4292: 1 episodes +[05/27 05:55:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:56:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:56:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4292 +[05/27 05:56:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4292 in 2.85s (batch: 2.75s, save: 0.10s) +[05/27 05:56:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4292 +[05/27 05:56:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4292: 0/1 successful episodes +[05/27 05:56:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4327 (index 44/115) +[05/27 05:56:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:56:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 05:56:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_f4035bcaf9094e34afb664c872233c1c_1_0_9 in scene +Goal: place mechanical clock next to laptop computer +[2026-05-27 05:57:10,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:57:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:11:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4327 episode 0 object objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_6 completed with success=False +[05/27 06:11:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4327: 1 episodes +[05/27 06:11:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:11:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:11:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4327 +[05/27 06:11:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4327 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 06:11:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4327 +[05/27 06:11:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4327: 0/1 successful episodes +[05/27 06:11:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4349 (index 45/115) +[05/27 06:11:13 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4349 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 06:11:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 06:11:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place dark green handheld barcode scanner next to beige pillow +[2026-05-27 06:12:31,402] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:13:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:29:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4349 episode 0 object objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_3 completed with success=False +[05/27 06:29:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 06:29:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place angled lever with stone base next to square dark compact laptop +[2026-05-27 06:30:41,052] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:47:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4349 episode 1 object objalever_5d821ac7148240c092c4face44c1d096_1_0_6 completed with success=False +[05/27 06:47:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4349: 2 episodes +[05/27 06:47:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:47:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:47:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:47:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:47:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4349 +[05/27 06:47:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4349 in 5.47s (batch: 5.30s, save: 0.17s) +[05/27 06:47:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4349 +[05/27 06:47:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4349: 0/2 successful episodes +[05/27 06:47:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4403 (index 46/115) +[05/27 06:47:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 06:47:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 +[05/27 06:48:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 06:48:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 06:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 06:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 06:48:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 06:48:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the portable computer and place it next to the three red tomatoes dripping liquid' +[05/27 06:48:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 4403 episode 0/1 collected=0/2 +[05/27 06:48:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/27 06:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene +Goal: place portable computer next to three red tomatoes dripping liquid +[2026-05-27 06:49:08,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:06:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4403 episode 0 object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_7 completed with success=False +[05/27 07:06:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4403: 1 episodes +[05/27 07:06:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:06:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:06:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4403 +[05/27 07:06:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4403 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 07:06:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4403 +[05/27 07:06:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4403: 0/1 successful episodes +[05/27 07:06:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4497 (index 47/115) +[05/27 07:06:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4497 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:06:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place frenchpress next to white potato +[2026-05-27 07:07:43,124] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:08:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:13:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 4497 episode 0 object objafrenchpress_5d69fbab9a5c4cce946be991c0b5e830_1_0_2 completed with success=False +[05/27 07:13:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4497: 1 episodes +[05/27 07:13:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:13:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:13:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4497 +[05/27 07:13:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4497 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 07:13:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4497 +[05/27 07:13:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4497: 0/1 successful episodes +[05/27 07:13:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4623 (index 48/115) +[05/27 07:13:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:13:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place rustic ceramic lid next to clear glass martini cup +[2026-05-27 07:14:54,482] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:35:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4623 episode 0 object objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_2 completed with success=False +[05/27 07:35:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4623: 1 episodes +[05/27 07:35:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:35:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:35:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4623 +[05/27 07:35:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4623 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 07:35:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4623 +[05/27 07:35:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4623: 0/1 successful episodes +[05/27 07:35:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4682 (index 49/115) +[05/27 07:35:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:35:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place edge tool next to soapdispenser +[2026-05-27 07:36:18,061] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:36:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:48:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4682 episode 0 object objahandplane_4b6de15eb1a94c278ba4b40a3e59dac6_1_0_8 completed with success=False +[05/27 07:48:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4682: 1 episodes +[05/27 07:48:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:48:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:48:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4682 +[05/27 07:48:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4682 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 07:48:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4682 +[05/27 07:48:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4682: 0/1 successful episodes +[05/27 07:48:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4726 (index 50/115) +[05/27 07:48:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4726 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:48:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place tall cream candle in dark holder next to beige bone dog toy +[2026-05-27 07:49:54,304] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:50:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:57:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 4726 episode 0 object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_3 completed with success=False +[05/27 07:57:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4726: 1 episodes +[05/27 07:57:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:57:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:57:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4726 +[05/27 07:57:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4726 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 07:57:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4726 +[05/27 07:57:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4726: 0/1 successful episodes +[05/27 07:57:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4802 (index 51/115) +[05/27 07:57:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:57:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place kokeshi doll next to thick blue hardcover programming book +[2026-05-27 07:58:25,923] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:08:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4802 episode 0 object objakokeshidoll_d3c152a1c4154f279cb590b6643e1640_1_0_7 completed with success=False +[05/27 08:08:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4802: 1 episodes +[05/27 08:08:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:08:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:08:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4802 +[05/27 08:08:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4802 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 08:08:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4802 +[05/27 08:08:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4802: 0/1 successful episodes +[05/27 08:08:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4882 (index 52/115) +[05/27 08:08:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4882 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:08:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place fire department connection next to vintage black ricoh kr-5 camera +[2026-05-27 08:10:01,059] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:10:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:16:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4882 episode 0 object objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_2 completed with success=False +[05/27 08:16:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4882: 1 episodes +[05/27 08:16:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:16:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:16:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4882 +[05/27 08:16:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4882 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 08:16:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4882 +[05/27 08:16:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4882: 0/1 successful episodes +[05/27 08:16:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4974 (index 53/115) +[05/27 08:16:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4974 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:16:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 08:16:21 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeribbon_3be787e16e6a4f5fb8f4830d0b2cb03b_2_0_5 in scene +[05/27 08:16:21 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_2_0_5 in scene +Goal: place arthropod next to simple light brown ceramic bowl +[2026-05-27 08:17:25,411] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:31:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4974 episode 0 object objamoth_a28d9a3820814921929228e03b35f041_1_0_4 completed with success=False +[05/27 08:31:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4974: 1 episodes +[05/27 08:31:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:31:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:31:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4974 +[05/27 08:31:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4974 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 08:31:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4974 +[05/27 08:31:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4974: 0/1 successful episodes +[05/27 08:31:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5097 (index 54/115) +[05/27 08:31:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:31:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place chocolate bunny next to red package +[2026-05-27 08:32:14,953] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:32:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:38:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5097 episode 0 object objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_2 completed with success=False +[05/27 08:38:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5097: 1 episodes +[05/27 08:38:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5097 +[05/27 08:38:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5097 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 08:38:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5097 +[05/27 08:38:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5097: 0/1 successful episodes +[05/27 08:38:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5172 (index 55/115) +[05/27 08:38:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5172 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:38:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 08:38:31 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene +Goal: place black zigzag crown with green gemstone next to green vase +[2026-05-27 08:39:34,025] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:40:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:51:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5172 episode 0 object objadecorativecrown_c5a38852c7484fb1aeeae0aea2509415_1_0_9 completed with success=False +[05/27 08:51:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5172: 1 episodes +[05/27 08:51:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:51:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:51:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5172 +[05/27 08:51:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5172 in 2.64s (batch: 2.55s, save: 0.09s) +[05/27 08:51:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5172 +[05/27 08:51:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5172: 0/1 successful episodes +[05/27 08:51:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5211 (index 56/115) +[05/27 08:51:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:51:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place glossy deep red arrow sign next to clear tapered plastic cup +[2026-05-27 08:52:52,065] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:03:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 5211 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_2 completed with success=False +[05/27 09:03:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5211: 1 episodes +[05/27 09:03:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:03:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:03:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5211 +[05/27 09:03:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5211 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 09:03:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5211 +[05/27 09:03:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5211: 0/1 successful episodes +[05/27 09:03:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5388 (index 57/115) +[05/27 09:03:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:03:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +Goal: place green and yellow sponge next to spray bottle +[2026-05-27 09:05:38,022] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:25:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5388 episode 0 object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_9 completed with success=False +[05/27 09:26:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5388: 1 episodes +[05/27 09:26:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:26:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:26:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5388 +[05/27 09:26:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5388 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 09:26:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5388 +[05/27 09:26:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5388: 0/1 successful episodes +[05/27 09:26:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5464 (index 58/115) +[05/27 09:26:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5464 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:26:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 09:26:20 Worker 0 WARNING object_manager.py:1238] Could not find object objalemon_ab2625342f2c43fe8a383f8f9b4917ab_1_0_6 in scene +[05/27 09:26:20 Worker 0 WARNING object_manager.py:1238] Could not find object statue_82f73072d5461ff460bb390c3adf02fa_1_0_7 in scene +Goal: place brown wooden screwdriver next to blue square plate +[2026-05-27 09:27:24,671] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:27:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:30:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5464 episode 0 object objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_6 completed with success=True +[05/27 09:30:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5464: 1 episodes +[05/27 09:30:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 134 timesteps +[05/27 09:30:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:30:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5464 +[05/27 09:30:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5464 in 2.51s (batch: 2.46s, save: 0.04s) +[05/27 09:30:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5464 +[05/27 09:30:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5464: 1/1 successful episodes +[05/27 09:30:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5548 (index 59/115) +[05/27 09:30:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5548 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:30:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place square brown disposable container with chopsticks next to natural covering +[2026-05-27 09:33:29,640] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:42:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5548 episode 0 object objafoodcontainer_2b8f5805bb0146158ede9d2b4d9d98ec_1_0_6 completed with success=False +[05/27 09:42:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5548: 1 episodes +[05/27 09:42:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:42:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:42:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5548 +[05/27 09:42:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5548 in 2.35s (batch: 2.26s, save: 0.09s) +[05/27 09:42:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5548 +[05/27 09:42:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5548: 0/1 successful episodes +[05/27 09:42:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5618 (index 60/115) +[05/27 09:42:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5618 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:42:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 09:42:50 Worker 0 WARNING object_manager.py:1238] Could not find object objahammer_3812462cf5424282a7256bb76365dd68_1_0_6 in scene +[05/27 09:42:50 Worker 0 WARNING object_manager.py:1238] Could not find object vase_e3478e74916159222cb33c5c329dc2b8_1_0_6 in scene +Goal: place black and red pixelated figure next to small red barn model with windows +[2026-05-27 09:43:54,057] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:53:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5618 episode 0 object objaabstractfigure_2b7ff505ad10442ea162476b4e00e408_1_0_7 completed with success=False +[05/27 09:53:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5618: 1 episodes +[05/27 09:53:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:53:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:53:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5618 +[05/27 09:53:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5618 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 09:53:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5618 +[05/27 09:53:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5618: 0/1 successful episodes +[05/27 09:53:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5672 (index 61/115) +[05/27 09:53:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:53:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place turquoise decorative hourglass with beads next to yellow wooden pencil +[2026-05-27 09:55:02,362] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:55:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:09:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5672 episode 0 object objadecorativehourglass_b7df02cc3f844d2a9b39d4f215c3931d_1_0_9 completed with success=False +[05/27 10:09:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5672: 1 episodes +[05/27 10:09:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:09:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:09:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5672 +[05/27 10:09:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5672 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 10:09:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5672 +[05/27 10:09:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5672: 0/1 successful episodes +[05/27 10:09:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5786 (index 62/115) +[05/27 10:09:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5786 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:09:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place yellow pencil with pink eraser next to white pillow +[2026-05-27 10:11:35,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:12:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:24:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 5786 episode 0 object objapencil_a405129f76194666aace56c08219e94c_1_0_9 completed with success=False +[05/27 10:24:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5786: 1 episodes +[05/27 10:24:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:24:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:24:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5786 +[05/27 10:24:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5786 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 10:24:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5786 +[05/27 10:24:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5786: 0/1 successful episodes +[05/27 10:24:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5898 (index 63/115) +[05/27 10:24:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5898 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:24:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 10:24:55 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 10:24:55 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_539c979c75b34576b75f3383e96eadb5_1_0_5 in scene +Goal: place small ceramic church model with steeple next to bulbous shiny gold vase +[2026-05-27 10:25:58,382] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:26:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:36:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5898 episode 0 object objaceramicmodel_45b9548330234d4b93cae76cd2f00521_1_0_7 completed with success=False +[05/27 10:36:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5898: 1 episodes +[05/27 10:36:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:37:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:37:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5898 +[05/27 10:37:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5898 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 10:37:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5898 +[05/27 10:37:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5898: 0/1 successful episodes +[05/27 10:37:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5959 (index 64/115) +[05/27 10:37:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5959 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:37:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place dark metal medieval torch next to spray bottle +[2026-05-27 10:38:12,625] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:38:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:40:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5959 episode 0 object objadecorativetorch_fc829f78d01c451a8f3c808099691225_1_0_5 completed with success=False +[05/27 10:40:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5959: 1 episodes +[05/27 10:40:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:40:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:40:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5959 +[05/27 10:40:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5959 in 2.46s (batch: 2.36s, save: 0.10s) +[05/27 10:40:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5959 +[05/27 10:40:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5959: 0/1 successful episodes +[05/27 10:40:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6069 (index 65/115) +[05/27 10:40:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:40:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_7 in scene +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_8 in scene +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_8 in scene +Goal: place wedge shape next to crockery +[2026-05-27 10:41:38,389] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:56:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 6069 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_2_0_8 completed with success=False +[05/27 10:56:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6069: 1 episodes +[05/27 10:56:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:56:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:56:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6069 +[05/27 10:56:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6069 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 10:56:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6069 +[05/27 10:56:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6069: 0/1 successful episodes +[05/27 10:56:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6144 (index 66/115) +[05/27 10:56:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:56:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place sleek metallic wall hook next to tin hat +[2026-05-27 10:57:24,850] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:58:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:06:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 6144 episode 0 object objawallhook_f289067f678d44eb9ac1446a22d24d06_1_0_6 completed with success=False +[05/27 11:06:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6144: 1 episodes +[05/27 11:06:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:06:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:06:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6144 +[05/27 11:06:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6144 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 11:06:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6144 +[05/27 11:06:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6144: 0/1 successful episodes +[05/27 11:06:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6208 (index 67/115) +[05/27 11:06:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:06:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 11:06:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene +[05/27 11:06:32 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene +[05/27 11:06:32 Worker 0 WARNING object_manager.py:1238] Could not find object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_7 in scene +Goal: place minimalist matte rectangular name plaque next to vintage metal box +[2026-05-27 11:07:34,619] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:08:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:21:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 6208 episode 0 object objaplaque_42aafcfc945b4f8d98e5401ca29051cc_1_0_9 completed with success=False +[05/27 11:21:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6208: 1 episodes +[05/27 11:21:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:21:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:21:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6208 +[05/27 11:21:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6208 in 2.63s (batch: 2.55s, save: 0.09s) +[05/27 11:21:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6208 +[05/27 11:21:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6208: 0/1 successful episodes +[05/27 11:21:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6271 (index 68/115) +[05/27 11:21:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6271 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:21:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place vintage gray camcorder with handle next to blue hardcover book +[2026-05-27 11:22:42,800] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:42:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 6271 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_4 completed with success=False +[05/27 11:42:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6271: 1 episodes +[05/27 11:42:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:42:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:42:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6271 +[05/27 11:42:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6271 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 11:42:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6271 +[05/27 11:42:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6271: 0/1 successful episodes +[05/27 11:42:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6325 (index 69/115) +[05/27 11:42:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6325 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:42:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 11:42:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_9 in scene +Goal: place turquoise cardboard notebook next to driftwood +[2026-05-27 11:43:48,870] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:44:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:54:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 6325 episode 0 object objanotebook_a8c59f42000e4d3a9f483c289fd09512_1_0_8 completed with success=False +[05/27 11:54:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6325: 1 episodes +[05/27 11:54:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:54:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:54:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6325 +[05/27 11:54:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6325 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 11:54:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6325 +[05/27 11:54:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6325: 0/1 successful episodes +[05/27 11:54:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6396 (index 70/115) +[05/27 11:54:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:54:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 11:54:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place ceramiccat next to dark teal box +[2026-05-27 11:56:00,713] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:56:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:12:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 6396 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_4 completed with success=False +[05/27 12:12:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6396: 1 episodes +[05/27 12:12:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:12:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:12:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6396 +[05/27 12:12:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6396 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 12:12:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6396 +[05/27 12:12:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6396: 0/1 successful episodes +[05/27 12:12:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6485 (index 71/115) +[05/27 12:12:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6485 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 12:12:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place holding device next to bulbous shiny gold metallic vase +[2026-05-27 12:14:17,850] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:14:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:29:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 6485 episode 0 object objahandhelddevice_fd9fdf81ab624a66897bbd8ac299e26f_1_0_4 completed with success=False +[05/27 12:29:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place sleek black handheld vacuum with yellow next to bulbous shiny gold vase +[2026-05-27 12:30:15,577] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:30:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:44:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 6485 episode 1 object objahandheldvacuumcleaner_61bd367277d2471bbe28c9ff7ef227a1_1_0_4 completed with success=False +[05/27 12:44:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6485: 2 episodes +[05/27 12:44:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:44:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:45:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:45:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:45:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6485 +[05/27 12:45:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6485 in 5.64s (batch: 5.41s, save: 0.23s) +[05/27 12:45:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6485 +[05/27 12:45:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6485: 0/2 successful episodes +[05/27 12:45:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6492 (index 72/115) +[05/27 12:45:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 12:45:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 12:45:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternaldvddrive_d9b63231980e4719aca47048767062af_1_0_5 in scene +[05/27 12:45:06 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene +Goal: place black rubber air blower next to spray paint +[2026-05-27 12:46:08,348] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:58:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 6492 episode 0 object objaairblower_c1894126b3394345835758d674b7435e_2_0_4 completed with success=False +[05/27 12:58:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6492: 1 episodes +[05/27 12:58:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:58:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:58:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6492 +[05/27 12:58:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6492 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 12:58:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6492 +[05/27 12:58:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6492: 0/1 successful episodes +[05/27 12:58:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6591 (index 73/115) +[05/27 12:58:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 12:58:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 12:59:04 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene +Goal: place fiber cleaver next to slim blue phone device +[2026-05-27 13:00:07,007] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:18:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6591 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_8 completed with success=False +[05/27 13:18:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6591: 1 episodes +[05/27 13:18:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:18:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:18:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6591 +[05/27 13:18:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6591 in 2.56s (batch: 2.46s, save: 0.10s) +[05/27 13:18:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6591 +[05/27 13:18:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6591: 0/1 successful episodes +[05/27 13:18:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6721 (index 74/115) +[05/27 13:18:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 13:18:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place white teacup with gold handle next to slim gold metallic smartphone with buttons +[2026-05-27 13:20:03,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:35:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 6721 episode 0 object objateacup_f7306387666943a3a53852fca4a977a2_1_0_6 completed with success=False +[05/27 13:35:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6721: 1 episodes +[05/27 13:35:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:35:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:35:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6721 +[05/27 13:35:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6721 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 13:35:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6721 +[05/27 13:35:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6721: 0/1 successful episodes +[05/27 13:35:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6788 (index 75/115) +[05/27 13:35:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 13:35:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 13:35:26 Worker 0 WARNING object_manager.py:1238] Could not find object objacap_4fb9681973e841209810c607560dede6_1_0_6 in scene +[05/27 13:35:26 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_2_0_9 in scene +Goal: place 3d india map with flag colors next to white crocodile skull +[2026-05-27 13:36:29,018] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:37:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:47:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 6788 episode 0 object objadecorativemap_5f5fa02e9e02420881536168a660c47b_1_0_8 completed with success=False +[05/27 13:47:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6788: 1 episodes +[05/27 13:47:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:47:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:47:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6788 +[05/27 13:47:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6788 in 2.72s (batch: 2.62s, save: 0.09s) +[05/27 13:47:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6788 +[05/27 13:47:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6788: 0/1 successful episodes +[05/27 13:47:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6911 (index 76/115) +[05/27 13:47:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 13:47:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 13:48:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene +[05/27 13:48:10 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +Goal: place blue hammer with orange handle next to medium-sized light brown oval potato +[2026-05-27 13:49:13,513] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:49:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:00:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 6911 episode 0 object objahandtool_ed6973497d074fd6969fd06f52e8da04_1_0_8 completed with success=False +[05/27 14:00:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6911: 1 episodes +[05/27 14:00:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:00:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:00:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6911 +[05/27 14:00:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6911 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 14:00:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6911 +[05/27 14:00:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6911: 0/1 successful episodes +[05/27 14:00:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6981 (index 77/115) +[05/27 14:00:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:00:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place shackle next to glossy red ceramic mug with handle +[2026-05-27 14:02:17,954] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:02:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:13:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 6981 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_2 completed with success=False +[05/27 14:13:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6981: 1 episodes +[05/27 14:13:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:13:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:13:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6981 +[05/27 14:13:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6981 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 14:13:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6981 +[05/27 14:13:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6981: 0/1 successful episodes +[05/27 14:13:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7030 (index 78/115) +[05/27 14:13:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:13:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place vintage cast iron clothes iron next to clear glass martini cup +[2026-05-27 14:14:50,429] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:15:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:20:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 7030 episode 0 object objaclothesiron_85d03c142cf04e258f254e7112850ba7_1_0_2 completed with success=False +[05/27 14:20:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7030: 1 episodes +[05/27 14:20:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:20:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:20:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7030 +[05/27 14:20:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7030 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 14:20:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7030 +[05/27 14:20:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7030: 0/1 successful episodes +[05/27 14:20:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7097 (index 79/115) +[05/27 14:20:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:20:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place chocolate wrapper next to golden bread +[2026-05-27 14:22:18,557] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:22:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:37:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 7097 episode 0 object objapackagedfood_5ceecc4773b845a5b9addfa0f324f159_1_0_2 completed with success=False +[05/27 14:38:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7097: 1 episodes +[05/27 14:38:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:38:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:38:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7097 +[05/27 14:38:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7097 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 14:38:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7097 +[05/27 14:38:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7097: 0/1 successful episodes +[05/27 14:38:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7177 (index 80/115) +[05/27 14:38:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:38:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 14:38:38 Worker 0 WARNING object_manager.py:1238] Could not find object objamolding_fafc3a00286842408c0e020b99c92b3d_1_0_6 in scene +Goal: place white lint roller with black handle next to blue soap bottle with orange pump +[2026-05-27 14:39:42,660] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 7177 episode 0 object objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_2 completed with success=False +[05/27 14:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7177: 1 episodes +[05/27 14:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:54:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:54:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7177 +[05/27 14:54:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7177 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 14:54:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7177 +[05/27 14:54:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7177: 0/1 successful episodes +[05/27 14:54:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7301 (index 81/115) +[05/27 14:54:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7301 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:54:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place polished wooden goblet next to vintage teal blue toy van +[2026-05-27 14:55:31,979] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:56:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:03:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7301 episode 0 object objagoblet_35c17f99abdd4ff995fe8b392865a37c_1_0_2 completed with success=False +[05/27 15:03:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7301: 1 episodes +[05/27 15:03:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:03:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:03:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7301 +[05/27 15:03:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7301 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 15:03:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7301 +[05/27 15:03:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7301: 0/1 successful episodes +[05/27 15:03:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7348 (index 82/115) +[05/27 15:03:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:03:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place solid food next to soapdispenser +[2026-05-27 15:04:55,484] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:05:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:18:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 7348 episode 0 object objameat_42c4cf5f1af84cfa9800dff288f13a44_1_0_8 completed with success=False +[05/27 15:18:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7348: 1 episodes +[05/27 15:18:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:18:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:18:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7348 +[05/27 15:18:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7348 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 15:18:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7348 +[05/27 15:18:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7348: 0/1 successful episodes +[05/27 15:18:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7405 (index 83/115) +[05/27 15:18:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7405 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:18:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place folded soft taco with lettuce filling next to fresh oval-shaped green lettuce head +[2026-05-27 15:19:42,002] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:20:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:27:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 7405 episode 0 object objataco_5b8095131eca4914b6dce4e96b290a3f_1_0_2 completed with success=False +[05/27 15:27:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7405: 1 episodes +[05/27 15:27:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:27:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:27:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7405 +[05/27 15:27:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7405 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 15:27:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7405 +[05/27 15:27:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7405: 0/1 successful episodes +[05/27 15:27:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7472 (index 84/115) +[05/27 15:27:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:27:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place glossy smooth oval beige egg next to solanaceous vegetable +[2026-05-27 15:28:40,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:29:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:36:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 7472 episode 0 object egg_15cf0be37a6e2484728ad7e6fc53f181_1_0_2 completed with success=False +[05/27 15:36:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7472: 1 episodes +[05/27 15:36:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:36:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:36:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7472 +[05/27 15:36:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7472 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 15:36:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7472 +[05/27 15:36:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7472: 0/1 successful episodes +[05/27 15:36:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7569 (index 85/115) +[05/27 15:36:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7569 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:36:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 15:36:29 Worker 0 WARNING object_manager.py:1238] Could not find object objasleepmask_e010cefb12434adaa70c64b0f9bae79a_1_0_3 in scene +[05/27 15:36:29 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene +Goal: place brown plastic rake with five tines next to bronze full-figured statue +[2026-05-27 15:37:32,440] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:50:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7569 episode 0 object objarake_d2c6209177484c299f7d806f5544dec6_2_0_2 completed with success=False +[05/27 15:51:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7569: 1 episodes +[05/27 15:51:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:51:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:51:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7569 +[05/27 15:51:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7569 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 15:51:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7569 +[05/27 15:51:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7569: 0/1 successful episodes +[05/27 15:51:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7672 (index 86/115) +[05/27 15:51:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:51:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place smooth brown chicken egg next to transparent soap bottle with bronze pump +[2026-05-27 15:52:11,321] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:52:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:54:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 7672 episode 0 object egg_8105fb5ffac56e85221c0eea53ac4fb5_1_0_2 completed with success=False +[05/27 15:54:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7672: 1 episodes +[05/27 15:54:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:54:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:54:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7672 +[05/27 15:54:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7672 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 15:54:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7672 +[05/27 15:54:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7672: 0/1 successful episodes +[05/27 15:54:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7774 (index 87/115) +[05/27 15:54:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:54:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place light gray stone chess knight next to rectangular card with squid +[2026-05-27 15:55:53,822] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:56:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:12:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 7774 episode 0 object objachesspiece_11048451bddc416eb4872caad8f0ba35_1_0_3 completed with success=False +[05/27 16:12:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7774: 1 episodes +[05/27 16:12:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:12:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:12:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7774 +[05/27 16:12:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7774 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 16:12:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7774 +[05/27 16:12:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7774: 0/1 successful episodes +[05/27 16:12:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7857 (index 88/115) +[05/27 16:12:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:12:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place black rectangular device with pin screen next to blue egg with yellow moon spots +[2026-05-27 16:13:19,509] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:14:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 7857 episode 0 object objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_2 completed with success=True +[05/27 16:14:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7857: 1 episodes +[05/27 16:14:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 58 timesteps +[05/27 16:14:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:14:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7857 +[05/27 16:14:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7857 in 2.44s (batch: 2.41s, save: 0.03s) +[05/27 16:14:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7857 +[05/27 16:14:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7857: 1/1 successful episodes +[05/27 16:14:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7973 (index 89/115) +[05/27 16:14:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7973 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:14:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place pliers next to red tractor +[2026-05-27 16:16:10,683] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:16:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:26:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 7973 episode 0 object objapincers_76dfab9b43c346c781e1c0edd3afe534_1_0_7 completed with success=False +[05/27 16:26:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7973: 1 episodes +[05/27 16:26:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:26:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:26:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7973 +[05/27 16:26:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7973 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 16:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7973 +[05/27 16:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7973: 0/1 successful episodes +[05/27 16:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8064 (index 90/115) +[05/27 16:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8064 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place effects unit next to open cardboard box flaps +[2026-05-27 16:27:29,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:38:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 8064 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 completed with success=False +[05/27 16:38:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8064: 1 episodes +[05/27 16:38:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:38:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:38:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8064 +[05/27 16:38:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8064 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 16:38:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8064 +[05/27 16:38:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8064: 0/1 successful episodes +[05/27 16:38:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8136 (index 91/115) +[05/27 16:38:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8136 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:38:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaterrainpatch_b649d14ef25b4d509f880fa217d13e3b_1_0_4 in scene +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4 in scene +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_9454424987bf45eb9bf7290823ca0cf1_1_0_5 in scene +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object candle_09223ab74c3b4b8525bb3f1f1bd405c2_2_0_5 in scene +Goal: place decorative knife with green handle next to red round tomato +[2026-05-27 16:40:08,104] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:40:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:57:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 8136 episode 0 object objadecorativeknife_ba81008c318c4af494b46d6b75770d79_1_0_2 completed with success=False +[05/27 16:57:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8136: 1 episodes +[05/27 16:57:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:57:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:57:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8136 +[05/27 16:57:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8136 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 16:57:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8136 +[05/27 16:57:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8136: 0/1 successful episodes +[05/27 16:57:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8231 (index 92/115) +[05/27 16:57:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:57:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place blue bomb with skull next to thick blue hardcover book with pages +[2026-05-27 16:59:12,440] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:59:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:09:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8231 episode 0 object objatoybomb_1631526a79b44d3a96382b1802a59fb7_1_0_7 completed with success=False +[05/27 17:09:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8231: 1 episodes +[05/27 17:09:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:09:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:09:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8231 +[05/27 17:09:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8231 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 17:09:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8231 +[05/27 17:09:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8231: 0/1 successful episodes +[05/27 17:09:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8303 (index 93/115) +[05/27 17:09:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:09:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place gray submarine next to edible fruit +[2026-05-27 17:10:21,510] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:10:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8303 episode 0 object objatoysubmarine_caf68e270c8f4da4817eaeaa231248e8_1_0_2 completed with success=False +[05/27 17:25:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8303: 1 episodes +[05/27 17:25:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8303 +[05/27 17:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8303 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 17:25:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8303 +[05/27 17:25:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8303: 0/1 successful episodes +[05/27 17:25:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8388 (index 94/115) +[05/27 17:25:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:25:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place twisted wooden club with handle next to slim dark cellphone with volume buttons +[2026-05-27 17:26:26,086] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:35:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 8388 episode 0 object objadecorativeclub_3f58af56c3dd48b6982f03e0d2098bd5_1_0_2 completed with success=False +[05/27 17:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8388: 1 episodes +[05/27 17:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:36:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8388 +[05/27 17:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8388 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 17:36:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8388 +[05/27 17:36:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8388: 0/1 successful episodes +[05/27 17:36:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8447 (index 95/115) +[05/27 17:36:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8447 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:36:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 17:36:19 Worker 0 WARNING object_manager.py:1238] Could not find object objacalendar_66167a28782a4472a531436b59ebbe40_1_0_2 in scene +[05/27 17:36:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +Goal: place wooden goblet next to old accordion camera +[2026-05-27 17:37:23,045] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:57:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 8447 episode 0 object objagoblet_69ccd4f7ef0d40db876d4f15fc5f7b32_1_0_7 completed with success=False +[05/27 17:57:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8447: 1 episodes +[05/27 17:57:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:57:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:57:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8447 +[05/27 17:57:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8447 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 17:57:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8447 +[05/27 17:57:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8447: 0/1 successful episodes +[05/27 17:57:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8537 (index 96/115) +[05/27 17:57:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:57:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 +[05/27 17:57:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 17:57:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 17:57:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 17:57:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 17:57:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 17:57:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue laptop and place it next to the beige mechanical component with red accents' +[05/27 17:57:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 8537 episode 0/1 collected=0/2 +[05/27 17:57:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +Goal: place blue laptop next to beige mechanical component with red accents +[2026-05-27 17:58:20,908] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:58:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:03:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 8537 episode 0 object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_2 completed with success=False +[05/27 18:03:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8537: 1 episodes +[05/27 18:03:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:03:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:03:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8537 +[05/27 18:03:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8537 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 18:03:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8537 +[05/27 18:03:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8537: 0/1 successful episodes +[05/27 18:03:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8643 (index 97/115) +[05/27 18:03:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8643 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:03:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place world cube next to small green house plant in pot +[2026-05-27 18:05:12,133] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:05:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:18:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 8643 episode 0 object objapuzzle_8c4b97dfc3014b69848bd040a3c866e5_1_0_4 completed with success=False +[05/27 18:18:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8643: 1 episodes +[05/27 18:18:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:18:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:18:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8643 +[05/27 18:18:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8643 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 18:18:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8643 +[05/27 18:18:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8643: 0/1 successful episodes +[05/27 18:18:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8720 (index 98/115) +[05/27 18:18:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8720 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:18:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place small gray smooth cup next to black and white book +[2026-05-27 18:20:00,119] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:20:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 8720 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=False +[05/27 18:28:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8720: 1 episodes +[05/27 18:28:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:28:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8720 +[05/27 18:28:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8720 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 18:28:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8720 +[05/27 18:28:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8720: 0/1 successful episodes +[05/27 18:28:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8805 (index 99/115) +[05/27 18:28:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8805 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:28:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 18:29:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place white electrical connector next to shiny purple quilted pillow +[2026-05-27 18:30:18,831] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:42:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 8805 episode 0 object objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_9 completed with success=False +[05/27 18:42:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8805: 1 episodes +[05/27 18:42:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:42:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:42:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8805 +[05/27 18:42:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8805 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 18:42:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8805 +[05/27 18:42:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8805: 0/1 successful episodes +[05/27 18:42:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8881 (index 100/115) +[05/27 18:42:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:42:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place bulbous shiny gold metallic vase next to small oval brown potato +[2026-05-27 18:43:20,323] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:43:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:45:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 8881 episode 0 object vase_d568e4c5c2948c69c05d527517276b06_1_0_6 completed with success=False +[05/27 18:46:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8881: 1 episodes +[05/27 18:46:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:46:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:46:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8881 +[05/27 18:46:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8881 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 18:46:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8881 +[05/27 18:46:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8881: 0/1 successful episodes +[05/27 18:46:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8952 (index 101/115) +[05/27 18:46:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8952 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:46:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 18:46:20 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_9 in scene +Goal: place red compact handheld device with label next to smooth light ceramic bowl +[2026-05-27 18:47:22,923] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:48:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:01:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 8952 episode 0 object objatool_9796cef620844a89ad045826ed1ae1d1_1_0_8 completed with success=False +[05/27 19:01:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8952: 1 episodes +[05/27 19:01:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:01:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:01:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8952 +[05/27 19:01:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8952 in 2.94s (batch: 2.84s, save: 0.10s) +[05/27 19:01:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8952 +[05/27 19:01:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8952: 0/1 successful episodes +[05/27 19:01:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9022 (index 102/115) +[05/27 19:01:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9022 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:01:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place smooth yellow apple with stem next to fresh green lettuce +[2026-05-27 19:02:54,014] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:03:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:13:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 9022 episode 0 object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_6 completed with success=False +[05/27 19:13:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9022: 1 episodes +[05/27 19:13:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:13:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:13:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9022 +[05/27 19:13:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9022 in 2.79s (batch: 2.70s, save: 0.10s) +[05/27 19:13:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9022 +[05/27 19:13:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9022: 0/1 successful episodes +[05/27 19:13:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9087 (index 103/115) +[05/27 19:13:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:13:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place miniature trafficlight with red light next to slim rectangular red phone device +[2026-05-27 19:14:40,200] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:15:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:20:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 9087 episode 0 object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_2 completed with success=False +[05/27 19:20:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9087: 1 episodes +[05/27 19:20:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:20:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:20:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9087 +[05/27 19:20:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9087 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 19:21:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9087 +[05/27 19:21:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9087: 0/1 successful episodes +[05/27 19:21:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9152 (index 104/115) +[05/27 19:21:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9152 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:21:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 19:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaarchaeologicalmodel_d8275f5a478c4157a9ecbb8562034789_1_0_2 in scene +[05/27 19:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object apple_0a9ba98f2af520d91d8acc78da62b984_1_0_2 in scene +Goal: place metallic needle-nose pliers with grips next to smooth gray bowl +[2026-05-27 19:22:36,288] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:23:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:37:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 9152 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_4 completed with success=False +[05/27 19:37:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 19:37:24 Worker 0 WARNING object_manager.py:1238] Could not find object objaarchaeologicalmodel_d8275f5a478c4157a9ecbb8562034789_1_0_2 in scene +[05/27 19:37:24 Worker 0 WARNING object_manager.py:1238] Could not find object apple_0a9ba98f2af520d91d8acc78da62b984_1_0_2 in scene +Goal: place red futuristic handheld device with grip next to black stylized handgun with blue accents +[2026-05-27 19:38:29,038] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:39:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:53:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 9152 episode 1 object objatoygun_8a193bd9d7944b5baf2031f5fb80a7a3_1_0_7 completed with success=False +[05/27 19:53:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9152: 2 episodes +[05/27 19:53:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:53:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:53:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:53:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:53:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9152 +[05/27 19:53:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9152 in 4.93s (batch: 4.75s, save: 0.17s) +[05/27 19:53:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9152 +[05/27 19:53:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9152: 0/2 successful episodes +[05/27 19:53:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9156 (index 105/115) +[05/27 19:53:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9156 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:53:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place locking pliers next to soapdispenser +[2026-05-27 19:54:36,668] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:55:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:11:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 9156 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False +[05/27 20:11:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9156: 1 episodes +[05/27 20:11:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:11:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:11:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9156 +[05/27 20:11:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9156 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 20:11:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9156 +[05/27 20:11:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9156: 0/1 successful episodes +[05/27 20:11:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9234 (index 106/115) +[05/27 20:11:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:11:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place colorful flower next to oval brown potato +[2026-05-27 20:12:27,825] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:13:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:18:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 9234 episode 0 object objaflowersculpture_4d3f1c2044814320af551030c3bf0e9d_1_0_6 completed with success=False +[05/27 20:18:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9234: 1 episodes +[05/27 20:18:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:18:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:18:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9234 +[05/27 20:18:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9234 in 2.43s (batch: 2.33s, save: 0.09s) +[05/27 20:18:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9234 +[05/27 20:18:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9234: 0/1 successful episodes +[05/27 20:18:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9308 (index 107/115) +[05/27 20:18:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9308 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:18:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place wooden humanoid puzzle piece next to shiny gold vase +[2026-05-27 20:19:22,941] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:19:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:29:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9308 episode 0 object objapuzzlepiece_2dbbd65cb2614e8481d2b1f0760c37a8_1_0_7 completed with success=False +[05/27 20:29:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9308: 1 episodes +[05/27 20:29:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:29:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:29:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9308 +[05/27 20:29:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9308 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 20:29:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9308 +[05/27 20:29:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9308: 0/1 successful episodes +[05/27 20:29:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9422 (index 108/115) +[05/27 20:29:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9422 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:29:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyspacecraft_f42792c81950490faaabc21ae1f2019a_1_0_2 in scene +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_27f41066f714b93c23f7a8f42a932407_1_0_2 in scene +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_8c4ab0ebeae63b9cd60e6686b8602751_1_0_2 in scene +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebadge_8a1845ddd6fa4a2e8102c30675ff11e5_1_0_6 in scene +Goal: place teal cat next to rustic round beige ceramic plate +[2026-05-27 20:30:43,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:42:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9422 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_2 completed with success=False +[05/27 20:42:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9422: 1 episodes +[05/27 20:42:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:42:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:42:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9422 +[05/27 20:42:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9422 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 20:42:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9422 +[05/27 20:42:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9422: 0/1 successful episodes +[05/27 20:42:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9496 (index 109/115) +[05/27 20:42:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9496 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:42:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place movie camera next to green floral wedding invitation +[2026-05-27 20:44:45,007] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:59:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 9496 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_8 completed with success=False +[05/27 20:59:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9496: 1 episodes +[05/27 20:59:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:59:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:59:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9496 +[05/27 20:59:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9496 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 20:59:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9496 +[05/27 20:59:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9496: 0/1 successful episodes +[05/27 20:59:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9554 (index 110/115) +[05/27 20:59:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9554 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:59:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 21:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objawallplaque_4ac6037405274ec4893b7979a707d625_1_0_6 in scene +[05/27 21:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_de5352f233c6a9b4bf912bb08ebc2810_1_0_6 in scene +Goal: place black spray paint can next to olive scalloped ceramic plate +[05/27 21:00:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:14:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 9554 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_9 completed with success=False +[05/27 21:14:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9554: 1 episodes +[05/27 21:14:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:14:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:14:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9554 +[05/27 21:14:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9554 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 21:14:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9554 +[05/27 21:14:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9554: 0/1 successful episodes +[05/27 21:14:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9642 (index 111/115) +[05/27 21:14:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9642 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:14:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 21:15:00 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_3 in scene +Goal: place white aerosol can with rusted top next to white tape dispenser +[2026-05-27 21:16:03,623] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 9642 episode 0 object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_3 completed with success=False +[05/27 21:25:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9642: 1 episodes +[05/27 21:25:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9642 +[05/27 21:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9642 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 21:25:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9642 +[05/27 21:25:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9642: 0/1 successful episodes +[05/27 21:25:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9719 (index 112/115) +[05/27 21:25:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9719 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:25:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 21:25:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place dark vintage rectangular chocolate mold next to sleek black toaster with red sides +[2026-05-27 21:26:24,159] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:26:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:40:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 9719 episode 0 object objachocolatemold_f410c9f5784d435ea17c89e2f51bc439_1_0_8 completed with success=False +[05/27 21:40:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9719: 1 episodes +[05/27 21:40:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:40:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:40:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9719 +[05/27 21:40:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9719 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 21:40:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9719 +[05/27 21:40:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9719: 0/1 successful episodes +[05/27 21:40:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9886 (index 113/115) +[05/27 21:40:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:40:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 21:40:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_7 in scene +[05/27 21:40:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_7 in scene +[05/27 21:40:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place turquoise can next to brown loaf bread +[2026-05-27 21:41:51,821] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:54:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 9886 episode 0 object objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_8 completed with success=False +[05/27 21:54:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9886: 1 episodes +[05/27 21:54:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:54:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9886 +[05/27 21:54:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9886 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 21:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9886 +[05/27 21:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9886: 0/1 successful episodes +[05/27 21:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9958 (index 114/115) +[05/27 21:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9958 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place curved ceramic tube next to yellow apple with stem +[2026-05-27 21:55:52,425] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:56:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:09:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 9958 episode 0 object objapipe_bf11f43f2d674918b4618bfbacaef123_1_0_8 completed with success=False +[05/27 22:10:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9958: 1 episodes +[05/27 22:10:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:10:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:10:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9958 +[05/27 22:10:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9958 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 22:10:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9958 +[05/27 22:10:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9958: 0/1 successful episodes +[05/27 22:10:03 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 22:10:04 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 22:10:04 INFO pipeline.py:1499] Success count: 2, Total count: 119 +[05/27 22:10:04 INFO pipeline.py:1500] Success rate: 1.68% +Combined 119 episodes from 115 files → /tmp/tmp4ihor1tz.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv at-end: 1.68% | oracle: 1.68% of 119 episodes +[2026-05-27 22:10:18,242] INFO MolmoSpaces simulator eval finished: success=2/119 rate=0.0168 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval +[2026-05-27 22:10:18,242] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d1d2369422c38e04c9f841281010e7c759013404 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..947f1067db0c3443113607b1c79863a26e166e9a --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv @@ -0,0 +1,111 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Candle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.296682,0.0 +latest,Cup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.168502,0.0 +latest,Egg,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,43.467935,29.99183 +latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.959686,0.0 +latest,Laptop,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.488235,11.316677 +latest,Objaabstractfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.02349,0.0 +latest,Objaacorn,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.955052,0.0 +latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,108.012299,0.0 +latest,Objaairblower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.286147,0.0 +latest,Objabarcodescanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.323514,0.0 +latest,Objacamcorder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.767915,0.0 +latest,Objacandlestick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.153645,0.0 +latest,Objaceramiccat,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,24.5965,10.491697 +latest,Objaceramiclid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.359321,0.0 +latest,Objaceramicmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.411923,0.0 +latest,Objachesspiece,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,26.579897,15.965 +latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,115.234557,0.0 +latest,Objachocolatemold,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.652779,0.0 +latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,156.585646,0.0 +latest,Objaclothesiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.731223,0.0 +latest,Objacorkscrew,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,33.205069,9.66802 +latest,Objacrucifix,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.977582,0.0 +latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.80905,0.0 +latest,Objadecorativeclub,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.730731,0.0 +latest,Objadecorativecrown,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.296213,0.0 +latest,Objadecorativedevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.211717,0.0 +latest,Objadecorativegoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.302967,0.0 +latest,Objadecorativehourglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.068171,0.0 +latest,Objadecorativeknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.645277,0.0 +latest,Objadecorativemap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.943096,0.0 +latest,Objadecorativetorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.545226,0.0 +latest,Objadecorativewedge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.732014,0.0 +latest,Objadecorativewoodpiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.363168,0.0 +latest,Objaelectricalconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.137027,0.0 +latest,Objafantasybook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.471756,0.0 +latest,Objafibercleaver,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.016547,0.0 +latest,Objafinial,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.235103,0.0 +latest,Objafiredepartmentconnection,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.570309,0.0 +latest,Objaflowersculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.869468,0.0 +latest,Objafoodcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.084014,0.0 +latest,Objafoodcontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.955493,0.0 +latest,Objafrenchpress,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.63433,0.0 +latest,Objagoblet,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.410711,11.653811 +latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.876975,0.0 +latest,Objahandhelddevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.06634,0.0 +latest,Objahandheldmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.808936,0.0 +latest,Objahandheldtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.5985,0.0 +latest,Objahandheldvacuumcleaner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.8413,0.0 +latest,Objahandplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.49278,0.0 +latest,Objahandplaner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.669211,0.0 +latest,Objahandtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.339492,0.0 +latest,Objaholographicprojector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.853957,0.0 +latest,Objahumanhandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.192563,0.0 +latest,Objaimmersionblender,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.991573,0.0 +latest,Objainsulationpanel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.299256,0.0 +latest,Objakeypad,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,30.466013,6.384054 +latest,Objakokeshidoll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.211825,0.0 +latest,Objalever,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.334466,0.0 +latest,Objalintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.039311,0.0 +latest,Objalockingpliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.134394,0.0 +latest,Objalogoplaque,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.810865,0.0 +latest,Objameat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.341002,0.0 +latest,Objamechanicalclock,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,45.045672,9.426622 +latest,Objaminiaturetrafficlight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.875454,0.0 +latest,Objamodelbuilding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.438283,0.0 +latest,Objamoth,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,34.916151,0.317342 +latest,Objamoviecamera,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,42.741138,13.799269 +latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.502969,0.0 +latest,Objanotebook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.652684,0.0 +latest,Objaocarina,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.730636,0.0 +latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.885607,0.0 +latest,Objapencil,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.42873,0.0 +latest,Objaphotoblock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.308908,0.0 +latest,Objapincers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.013036,0.0 +latest,Objapipe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.449259,0.0 +latest,Objapipecutter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.959573,0.0 +latest,Objaplaque,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.457348,0.0 +latest,Objapuzzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.263136,0.0 +latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.152635,0.0 +latest,Objapuzzletoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.458006,0.0 +latest,Objarake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.697752,0.0 +latest,Objareplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.011271,0.0 +latest,Objasandal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.502584,0.0 +latest,Objascopemount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.486377,0.0 +latest,Objascrewdriver,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,82.015511,0.0 +latest,Objashackle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,68.686098,3.608731 +latest,Objasilencer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.052429,0.0 +latest,Objasnackpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.257326,0.0 +latest,Objaspatula,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.83156,0.0 +latest,Objaspinningtop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.836606,0.0 +latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.269625,0.0 +latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.855863,0.0 +latest,Objataco,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.081145,0.0 +latest,Objatacticalmask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.190027,0.0 +latest,Objateacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.268757,0.0 +latest,Objatoiletpaperroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.266822,0.0 +latest,Objatool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.752693,0.0 +latest,Objatoybomb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.8491,0.0 +latest,Objatoygun,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.656993,0.0 +latest,Objatoysubmarine,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.635338,0.0 +latest,Objawalkietalkie,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.141232,2.674376 +latest,Objawallhook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.896521,0.0 +latest,Objawasher,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.740271,0.0 +latest,Pot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.782793,0.0 +latest,Vase,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,29.073629,5.036522 +latest,OVERALL,2,119,1.68,0.52,5.89,2,1.68,0.52,5.89,39.90792,23.632107 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/summary.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..32e61819e8a06e938bc02caf39c38e5665583655 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/summary.json @@ -0,0 +1,203 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.01680672268907563, + "success_count": 2.0, + "total_episodes": 119.0, + "avg_episode_length": 443.03361344537814, + "oracle_done_rate": 0.01680672268907563, + "success_rate_pct": 1.68, + "oracle_rate_pct": 1.68 + }, + "stats": { + "total_episodes": 119, + "success_count": 2, + "failure_count": 117, + "success_rate": 0.01680672268907563, + "avg_episode_length": 443.03361344537814, + "min_episode_length": 56, + "max_episode_length": 449, + "num_houses": 115, + "house_success_rates": { + "house_1042": 0.0, + "house_1170": 0.0, + "house_1234": 0.0, + "house_1328": 0.0, + "house_1388": 0.0, + "house_1504": 0.0, + "house_1634": 0.0, + "house_1731": 0.0, + "house_1778": 0.0, + "house_1907": 0.0, + "house_2021": 0.0, + "house_2041": 0.0, + "house_2165": 0.0, + "house_2305": 0.0, + "house_2384": 0.0, + "house_2478": 0.0, + "house_2575": 0.0, + "house_2681": 0.0, + "house_2805": 0.0, + "house_2885": 0.0, + "house_2978": 0.0, + "house_3096": 0.0, + "house_3211": 0.0, + "house_3269": 0.0, + "house_3319": 0.0, + "house_3397": 0.0, + "house_3462": 0.0, + "house_3536": 0.0, + "house_3561": 0.0, + "house_3647": 0.0, + "house_3746": 0.0, + "house_3795": 0.0, + "house_3924": 0.0, + "house_4063": 0.0, + "house_4151": 0.0, + "house_4234": 0.0, + "house_4292": 0.0, + "house_4327": 0.0, + "house_4349": 0.0, + "house_4403": 0.0, + "house_4497": 0.0, + "house_4623": 0.0, + "house_4682": 0.0, + "house_4726": 0.0, + "house_4802": 0.0, + "house_4882": 0.0, + "house_4974": 0.0, + "house_5097": 0.0, + "house_5172": 0.0, + "house_5211": 0.0, + "house_5388": 0.0, + "house_5464": 1.0, + "house_5548": 0.0, + "house_5618": 0.0, + "house_5672": 0.0, + "house_576": 0.0, + "house_5786": 0.0, + "house_5898": 0.0, + "house_5959": 0.0, + "house_6069": 0.0, + "house_6144": 0.0, + "house_6208": 0.0, + "house_622": 0.0, + "house_6271": 0.0, + "house_6325": 0.0, + "house_6396": 0.0, + "house_6485": 0.0, + "house_6492": 0.0, + "house_6591": 0.0, + "house_6721": 0.0, + "house_6788": 0.0, + "house_691": 0.0, + "house_6911": 0.0, + "house_6981": 0.0, + "house_7030": 0.0, + "house_7097": 0.0, + "house_7177": 0.0, + "house_7301": 0.0, + "house_732": 0.0, + "house_7348": 0.0, + "house_7405": 0.0, + "house_7472": 0.0, + "house_7569": 0.0, + "house_7672": 0.0, + "house_7774": 0.0, + "house_7857": 1.0, + "house_791": 0.0, + "house_7973": 0.0, + "house_8064": 0.0, + "house_8136": 0.0, + "house_8231": 0.0, + "house_8303": 0.0, + "house_8388": 0.0, + "house_8447": 0.0, + "house_8537": 0.0, + "house_8643": 0.0, + "house_867": 0.0, + "house_8720": 0.0, + "house_8805": 0.0, + "house_8881": 0.0, + "house_8952": 0.0, + "house_9022": 0.0, + "house_9087": 0.0, + "house_9152": 0.0, + "house_9156": 0.0, + "house_9234": 0.0, + "house_9308": 0.0, + "house_939": 0.0, + "house_9422": 0.0, + "house_9496": 0.0, + "house_9554": 0.0, + "house_9642": 0.0, + "house_9719": 0.0, + "house_9886": 0.0, + "house_9958": 0.0 + }, + "oracle_done_count": 2, + "oracle_done_rate": 0.01680672268907563, + "avg_successful_episode_length": 94.0 + }, + "success_count": 2, + "total_count": 119, + "success_rate": 0.01680672268907563, + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv", + "csv_overall_row": { + "policy": "latest", + "category": "OVERALL", + "successes": 2, + "total": 119, + "success_rate_pct": 1.68, + "ci_95_low_pct": 0.52, + "ci_95_high_pct": 5.89, + "oracle_successes": 2, + "oracle_rate_pct": 1.68, + "oracle_ci_95_low_pct": 0.52, + "oracle_ci_95_high_pct": 5.89, + "jerk_joint_mean": 39.90792, + "jerk_joint_std": 23.632107 + }, + "preview_video": null, + "skip_compose_videos": true, + "skip_csv": false, + "composed_video_count": 0, + "composed_videos": {} +} \ No newline at end of file diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/run.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/run.log new file mode 100644 index 0000000000000000000000000000000000000000..8d2c434b02c6b4ab9068c30e5cea9ef16b8503f2 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/run.log @@ -0,0 +1,3710 @@ +[2026-05-26 19:43:51,410] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,411] INFO Using MuJoCo EGL device id: 7 +[2026-05-26 19:43:51,411] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,443] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 (source=arg) +[2026-05-26 19:43:53,314] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:02,744] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,279] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,753] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,236] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [576, + 622, + 691, + 732, + 791, + 867, + 939, + 1042, + 1170, + 1234, + 1328, + 1388, + 1504, + 1634, + 1731, + 1778, + 1907, + 2021, + 2041, + 2165, + 2305, + 2384, + 2478, + 2575, + 2681, + 2805, + 2885, + 2978, + 3096, + 3211, + 3269, + 3319, + 3397, + 3462, + 3536, + 3561, + 3647, + 3746, + 3795, + 3924, + 4063, + 4151, + 4234, + 4292, + 4327, + 4349, + 4403, + 4497, + 4623, + 4682, + 4726, + 4802, + 4882, + 4974, + 5097, + 5172, + 5211, + 5388, + 5464, + 5548, + 5618, + 5672, + 5786, + 5898, + 5959, + 6069, + 6144, + 6208, + 6271, + 6325, + 6396, + 6485, + 6492, + 6591, + 6721, + 6788, + 6911, + 6981, + 7030, + 7097, + 7177, + 7301, + 7348, + 7405, + 7472, + 7569, + 7672, + 7774, + 7857, + 7973, + 8064, + 8136, + 8231, + 8303, + 8388, + 8447, + 8537, + 8643, + 8720, + 8805, + 8881, + 8952, + 9022, + 9087, + 9152, + 9156, + 9234, + 9308, + 9422, + 9496, + 9554, + 9642, + 9719, + 9886, + 9958], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,241] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 576 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place tan sandal with block heel straps next to blue torch +2026-05-26 19:48:35.201 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:36,166] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:36,817] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:37,347] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:37,546] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:37,550] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:59:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 576 episode 0 object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_5 completed with success=False +[05/26 19:59:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_576: 1 episodes +[05/26 19:59:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:59:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:59:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_576 +[05/26 19:59:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_576 in 2.44s (batch: 2.34s, save: 0.10s) +[05/26 19:59:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_576 +[05/26 19:59:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 576: 0/1 successful episodes +[05/26 19:59:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 622 (index 1/115) +[05/26 19:59:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 19:59:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place instrumentality next to red toy van +[2026-05-26 20:01:11,248] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:01:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:10:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 622 episode 0 object objapipecutter_9113b144802144b683d8db86f7d7388c_1_0_6 completed with success=False +[05/26 20:10:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_622: 1 episodes +[05/26 20:10:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:10:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:10:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_622 +[05/26 20:10:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_622 in 2.85s (batch: 2.75s, save: 0.09s) +[05/26 20:10:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_622 +[05/26 20:10:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 622: 0/1 successful episodes +[05/26 20:10:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 691 (index 2/115) +[05/26 20:10:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 691 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:10:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place flat gray metal ring next to tall white candle in holder +[2026-05-26 20:11:55,952] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:22:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 691 episode 0 object objawasher_694066aa6e0a46db95f476ad8c951951_1_0_7 completed with success=False +[05/26 20:22:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_691: 1 episodes +[05/26 20:22:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:22:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:22:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_691 +[05/26 20:22:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_691 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 20:22:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_691 +[05/26 20:22:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 691: 0/1 successful episodes +[05/26 20:22:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 732 (index 3/115) +[05/26 20:22:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 732 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:22:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place ornate finial next to colorful purple accordion with keyboard +[2026-05-26 20:24:04,036] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:24:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:36:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 732 episode 0 object objafinial_7e55982574974d22863ea0ddb370ffe5_1_0_9 completed with success=False +[05/26 20:36:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_732: 1 episodes +[05/26 20:36:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:36:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:36:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_732 +[05/26 20:36:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_732 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 20:36:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_732 +[05/26 20:36:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 732: 0/1 successful episodes +[05/26 20:36:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 791 (index 4/115) +[05/26 20:36:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 791 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:36:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 20:37:07 Worker 0 WARNING object_manager.py:1238] Could not find object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_4 in scene +[05/26 20:37:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativespike_518021839cf544f0b89865ab495c885b_1_0_4 in scene +Goal: place holographicprojector next to dark glossy hardcover book +[2026-05-26 20:38:05,378] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:38:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:52:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 791 episode 0 object objaholographicprojector_9860e2270f1245698995adce759c187f_1_0_4 completed with success=False +[05/26 20:52:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_791: 1 episodes +[05/26 20:52:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:52:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:52:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_791 +[05/26 20:52:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_791 in 2.42s (batch: 2.32s, save: 0.09s) +[05/26 20:52:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_791 +[05/26 20:52:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 791: 0/1 successful episodes +[05/26 20:52:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 867 (index 5/115) +[05/26 20:52:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:52:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place brown blue chocolate package next to large red tomato +[2026-05-26 20:53:58,977] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:54:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:09:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 867 episode 0 object objasnackpackage_943e5e9691ef4f6fb41c851d2892d988_1_0_8 completed with success=False +[05/26 21:09:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_867: 1 episodes +[05/26 21:09:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:09:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:09:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_867 +[05/26 21:09:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_867 in 2.41s (batch: 2.32s, save: 0.09s) +[05/26 21:09:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_867 +[05/26 21:09:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 867: 0/1 successful episodes +[05/26 21:09:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 939 (index 6/115) +[05/26 21:09:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:09:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place tall white candlestick next to vintage light fabric pith helmet +[2026-05-26 21:10:26,637] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:11:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:17:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 939 episode 0 object objacandlestick_dba5865de3da40b0bc3482242a32db46_1_0_2 completed with success=False +[05/26 21:17:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_939: 1 episodes +[05/26 21:17:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:17:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:17:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_939 +[05/26 21:17:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_939 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 21:17:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_939 +[05/26 21:17:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 939: 0/1 successful episodes +[05/26 21:17:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1042 (index 7/115) +[05/26 21:17:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1042 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:17:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place hand mirror next to glossy russian doll with flowers +[2026-05-26 21:19:04,550] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:32:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 1042 episode 0 object objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_1_0_7 completed with success=False +[05/26 21:32:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1042: 1 episodes +[05/26 21:32:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:32:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:32:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1042 +[05/26 21:32:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1042 in 2.85s (batch: 2.76s, save: 0.09s) +[05/26 21:32:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1042 +[05/26 21:32:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1042: 0/1 successful episodes +[05/26 21:32:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1170 (index 8/115) +[05/26 21:32:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1170 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:32:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place rugged green tactical mask with goggles next to glossy blue hexagonal emblem with letters +[2026-05-26 21:34:03,013] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:34:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:45:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 1170 episode 0 object objatacticalmask_2ae79f9bdbba41a0a80e4bc0f8bfe95f_1_0_5 completed with success=False +[05/26 21:46:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1170: 1 episodes +[05/26 21:46:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1170 +[05/26 21:46:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1170 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 21:46:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1170 +[05/26 21:46:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1170: 0/1 successful episodes +[05/26 21:46:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1234 (index 9/115) +[05/26 21:46:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:46:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place instrumentation next to vintage minerva stopwatch beige +[2026-05-26 21:47:07,168] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:47:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:52:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 1234 episode 0 object objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_2 completed with success=False +[05/26 21:52:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1234: 1 episodes +[05/26 21:52:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:52:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:52:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1234 +[05/26 21:52:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1234 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 21:52:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1234 +[05/26 21:52:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1234: 0/1 successful episodes +[05/26 21:52:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1328 (index 10/115) +[05/26 21:52:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1328 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:52:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue and silver logo plaque next to green hardcover book titled the effective engineer +[2026-05-26 21:53:42,348] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:54:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:03:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 1328 episode 0 object objalogoplaque_3debec4b2b6e4fc1b072828dbbdddac3_1_0_7 completed with success=False +[05/26 22:03:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1328: 1 episodes +[05/26 22:03:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:04:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:04:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1328 +[05/26 22:04:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1328 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 22:04:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1328 +[05/26 22:04:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1328: 0/1 successful episodes +[05/26 22:04:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1388 (index 11/115) +[05/26 22:04:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:04:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 22:04:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_5 in scene +[05/26 22:04:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +Goal: place geometric brown acorn shape next to slim blue phone device +[2026-05-26 22:05:41,303] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:06:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:23:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 1388 episode 0 object objaacorn_421068a9395b496fa86c81792c20adc8_1_0_2 completed with success=False +[05/26 22:23:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1388: 1 episodes +[05/26 22:23:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:23:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:23:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1388 +[05/26 22:23:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1388 in 2.79s (batch: 2.70s, save: 0.09s) +[05/26 22:23:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1388 +[05/26 22:23:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1388: 0/1 successful episodes +[05/26 22:23:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1504 (index 12/115) +[05/26 22:23:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:23:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/26 22:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 in scene +[05/26 22:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +Goal: place wooden mechanical clock with visible gears next to small wooden orange sailboat +[2026-05-26 22:24:18,923] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:24:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:40:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1504 episode 0 object objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_8 completed with success=False +[05/26 22:40:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1504: 1 episodes +[05/26 22:40:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:40:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:40:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1504 +[05/26 22:40:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1504 in 2.81s (batch: 2.72s, save: 0.10s) +[05/26 22:40:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1504 +[05/26 22:40:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1504: 0/1 successful episodes +[05/26 22:40:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1634 (index 13/115) +[05/26 22:40:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:40:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 22:40:23 Worker 0 WARNING object_manager.py:1238] Could not find object vase_485850bef5e28630dd1156aaec2e3528_1_0_7 in scene +Goal: place glossy green prism with dog next to translucent plastic ergonomic spray bottle +[2026-05-26 22:41:26,128] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:57:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 1634 episode 0 object objaphotoblock_4d5340816228455a944a36753b977425_1_0_2 completed with success=False +[05/26 22:57:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1634: 1 episodes +[05/26 22:57:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:58:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:58:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1634 +[05/26 22:58:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1634 in 2.51s (batch: 2.41s, save: 0.09s) +[05/26 22:58:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1634 +[05/26 22:58:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1634: 0/1 successful episodes +[05/26 22:58:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1731 (index 14/115) +[05/26 22:58:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1731 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:58:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/26 22:58:16 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_58a2d909109c9f3ccdc7e7da4e8d0d5c_1_0_2 in scene +Goal: place realistic human hand next to shallow blue-gray metal frying pan +[2026-05-26 22:59:20,291] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:59:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:04:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 1731 episode 0 object objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_2 completed with success=False +[05/26 23:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1731: 1 episodes +[05/26 23:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:04:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:04:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1731 +[05/26 23:04:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1731 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 23:04:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1731 +[05/26 23:04:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1731: 0/1 successful episodes +[05/26 23:04:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1778 (index 15/115) +[05/26 23:04:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1778 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:04:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +Goal: place medium dark metal pot next to nutrient +[2026-05-26 23:06:23,097] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:06:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:08:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1778 episode 0 object pot_3f96121c2844b96ea193d53feeb1602e_1_0_2 completed with success=False +[05/26 23:08:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1778: 1 episodes +[05/26 23:08:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:08:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:08:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1778 +[05/26 23:08:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1778 in 2.68s (batch: 2.60s, save: 0.09s) +[05/26 23:08:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1778 +[05/26 23:08:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1778: 0/1 successful episodes +[05/26 23:08:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1907 (index 16/115) +[05/26 23:08:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:08:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place detailed crucifix with figure next to laptop +[2026-05-26 23:09:31,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:26:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 1907 episode 0 object objacrucifix_66cef9006e22443089458c6c5d990855_1_0_6 completed with success=False +[05/26 23:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1907: 1 episodes +[05/26 23:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:27:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:27:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1907 +[05/26 23:27:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1907 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 23:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1907 +[05/26 23:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1907: 0/1 successful episodes +[05/26 23:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2021 (index 17/115) +[05/26 23:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2021 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place tissue paper next to round orange pumpkin with curved stem +[2026-05-26 23:28:10,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:28:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:41:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 2021 episode 0 object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 completed with success=False +[05/26 23:41:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2021: 1 episodes +[05/26 23:41:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:41:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:41:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2021 +[05/26 23:41:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2021 in 2.68s (batch: 2.59s, save: 0.09s) +[05/26 23:41:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2021 +[05/26 23:41:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2021: 0/1 successful episodes +[05/26 23:41:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2041 (index 18/115) +[05/26 23:41:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:41:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place vintage wooden corkscrew with lever next to gray moon +[2026-05-26 23:42:38,006] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:43:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:54:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 2041 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4 completed with success=False +[05/26 23:54:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2041: 1 episodes +[05/26 23:54:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:54:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:54:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2041 +[05/26 23:54:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2041 in 2.37s (batch: 2.28s, save: 0.09s) +[05/26 23:54:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2041 +[05/26 23:54:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2041: 0/1 successful episodes +[05/26 23:54:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2165 (index 19/115) +[05/26 23:54:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:54:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 23:57:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_6 in scene +Goal: place yellow device with antenna and eye symbol next to medium brown cardboard box open +[2026-05-26 23:58:53,767] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:59:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:13:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 2165 episode 0 object objadecorativedevice_c866460d8cbc436b80b31c7eefb6d2d1_1_0_3 completed with success=False +[05/27 00:13:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2165: 1 episodes +[05/27 00:13:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:13:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:13:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2165 +[05/27 00:13:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2165 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 00:13:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2165 +[05/27 00:13:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2165: 0/1 successful episodes +[05/27 00:13:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2305 (index 20/115) +[05/27 00:13:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2305 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:13:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place golden knight chess piece on base next to glossy black dog +[2026-05-27 00:18:02,423] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:35:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2305 episode 0 object objachesspiece_3e28ace90e6f43efaf5e4a19e8bd9cad_1_0_3 completed with success=False +[05/27 00:35:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2305: 1 episodes +[05/27 00:35:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:35:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:35:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2305 +[05/27 00:35:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2305 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 00:35:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2305 +[05/27 00:35:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2305: 0/1 successful episodes +[05/27 00:35:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2384 (index 21/115) +[05/27 00:35:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:35:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place colorful rubik's cube next to realistic human hand +[2026-05-27 00:36:53,702] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:37:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:44:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 2384 episode 0 object objapuzzletoy_ff1c335452a24bdbb6e09d3443288085_1_0_2 completed with success=False +[05/27 00:44:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2384: 1 episodes +[05/27 00:44:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:44:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:44:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2384 +[05/27 00:44:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2384 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 00:44:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2384 +[05/27 00:44:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2384: 0/1 successful episodes +[05/27 00:44:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2478 (index 22/115) +[05/27 00:44:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:44:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object objagluebottle_8f91c8457fec4204a76dad9b5fd9d0df_1_0_6 in scene +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac6a1b74f35572c9a1a82922f273449a_1_0_6 in scene +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_7 in scene +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object plate_99ade04d632d7c28dd28877c7fb44406_1_0_7 in scene +Goal: place heavy-duty metal shackle next to gray pyramid die with turquoise numbers +[2026-05-27 00:45:30,340] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:46:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:54:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 2478 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False +[05/27 00:54:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2478: 1 episodes +[05/27 00:54:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:54:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:54:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2478 +[05/27 00:54:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2478 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 00:54:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2478 +[05/27 00:54:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2478: 0/1 successful episodes +[05/27 00:54:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2575 (index 23/115) +[05/27 00:54:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2575 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:54:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_2_0_5 in scene +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_9 in scene +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 in scene +Goal: place green grenade with metal lever and base next to gray rectangular ethernet transceiver +[2026-05-27 00:57:02,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:16:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 2575 episode 0 object objareplica_3a16fc6248a24c6787de8c5ffe4357a5_1_0_4 completed with success=False +[05/27 01:16:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2575: 1 episodes +[05/27 01:16:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:16:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2575 +[05/27 01:16:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2575 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 01:16:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2575 +[05/27 01:16:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2575: 0/1 successful episodes +[05/27 01:16:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2681 (index 24/115) +[05/27 01:16:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2681 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 01:16:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 01:17:05 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 01:17:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +Goal: place knurled metal cylinder silencer next to blue soap bottle +[2026-05-27 01:18:08,191] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:18:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:30:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 2681 episode 0 object objasilencer_2697ccda6f8842828f833a7292cb68d9_1_0_8 completed with success=False +[05/27 01:30:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2681: 1 episodes +[05/27 01:30:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:30:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:30:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2681 +[05/27 01:30:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2681 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 01:30:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2681 +[05/27 01:30:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2681: 0/1 successful episodes +[05/27 01:30:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2805 (index 25/115) +[05/27 01:30:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2805 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 01:30:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place sleek black immersion blender next to yellow fountain pen with gold nib +[2026-05-27 01:31:56,618] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:32:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:42:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 2805 episode 0 object objaimmersionblender_b44195533bc947af86f7e0eb9f0fdbce_1_0_6 completed with success=False +[05/27 01:42:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2805: 1 episodes +[05/27 01:42:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:42:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:42:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2805 +[05/27 01:42:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2805 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 01:42:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2805 +[05/27 01:42:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2805: 0/1 successful episodes +[05/27 01:42:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2885 (index 26/115) +[05/27 01:42:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 01:42:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +Goal: place rectangular dark insulation panel next to slim phone +[2026-05-27 01:43:55,127] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:04:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 2885 episode 0 object objainsulationpanel_a06ecf98780b49ad891a166141119739_1_0_4 completed with success=False +[05/27 02:04:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2885: 1 episodes +[05/27 02:04:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:04:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:04:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2885 +[05/27 02:04:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2885 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 02:04:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2885 +[05/27 02:04:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2885: 0/1 successful episodes +[05/27 02:04:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2978 (index 27/115) +[05/27 02:04:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:04:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place glossy yellow vase next to dark gray coral with branches +[2026-05-27 02:05:22,897] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:05:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:14:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2978 episode 0 object vase_cb3703664cbf21eb7b79c941e5ea5d5b_1_0_7 completed with success=False +[05/27 02:14:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2978: 1 episodes +[05/27 02:14:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:14:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:14:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2978 +[05/27 02:14:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2978 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 02:14:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2978 +[05/27 02:14:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2978: 0/1 successful episodes +[05/27 02:14:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3096 (index 28/115) +[05/27 02:14:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3096 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:14:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place reddish leather book with teeth next to small shiny gold dog statue +[2026-05-27 02:15:56,219] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:23:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3096 episode 0 object objafantasybook_db83a97ab5ba4c7891f73ff9dea43714_1_0_3 completed with success=False +[05/27 02:23:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3096: 1 episodes +[05/27 02:23:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:23:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:23:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3096 +[05/27 02:23:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3096 in 2.46s (batch: 2.36s, save: 0.10s) +[05/27 02:23:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3096 +[05/27 02:23:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3096: 0/1 successful episodes +[05/27 02:23:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3211 (index 29/115) +[05/27 02:23:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:23:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place vintage wooden planer with metal grooves next to translucent ergonomic spray bottle +[2026-05-27 02:24:53,014] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:25:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:32:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3211 episode 0 object objahandplaner_ff4279a607284c2a9dc4c3a271eca247_1_0_2 completed with success=False +[05/27 02:32:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3211: 1 episodes +[05/27 02:32:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:32:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:32:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3211 +[05/27 02:32:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3211 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 02:32:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3211 +[05/27 02:32:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3211: 0/1 successful episodes +[05/27 02:32:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3269 (index 30/115) +[05/27 02:32:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3269 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:32:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place handheld tool next to translucent blue soap bottle +[2026-05-27 02:34:01,589] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:34:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:51:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 3269 episode 0 object objahandheldtool_83a542c3f56a4e4f8f8017c94d9cf054_1_0_2 completed with success=False +[05/27 02:51:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3269: 1 episodes +[05/27 02:51:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:51:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:51:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3269 +[05/27 02:51:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3269 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 02:51:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3269 +[05/27 02:51:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3269: 0/1 successful episodes +[05/27 02:51:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3319 (index 31/115) +[05/27 02:51:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:51:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place arthropod next to dark glossy hardcover book with gold +[2026-05-27 02:53:00,732] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:53:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:07:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 3319 episode 0 object objamoth_a28d9a3820814921929228e03b35f041_1_0_4 completed with success=False +[05/27 03:07:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3319: 1 episodes +[05/27 03:07:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:07:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:07:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3319 +[05/27 03:07:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3319 in 2.46s (batch: 2.36s, save: 0.09s) +[05/27 03:07:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3319 +[05/27 03:07:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3319: 0/1 successful episodes +[05/27 03:07:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3397 (index 32/115) +[05/27 03:07:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3397 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:07:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_2_0_5 in scene +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place dark brown ocarina with spiral tail next to dark laptop +[2026-05-27 03:08:28,111] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:09:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:18:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 3397 episode 0 object objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_7 completed with success=False +[05/27 03:18:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3397: 1 episodes +[05/27 03:18:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:18:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:18:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3397 +[05/27 03:18:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3397 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 03:18:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3397 +[05/27 03:18:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3397: 0/1 successful episodes +[05/27 03:18:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3462 (index 33/115) +[05/27 03:18:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3462 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:18:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 03:18:43 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 in scene +[05/27 03:18:43 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_2_0_3 in scene +Goal: place black walkie-talkie device next to matte dark gray bowl +[2026-05-27 03:19:46,246] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:20:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:31:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3462 episode 0 object objawalkietalkie_8924c4e1bc4d4d33addb56a31fecb09a_1_0_6 completed with success=False +[05/27 03:32:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3462: 1 episodes +[05/27 03:32:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:32:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:32:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3462 +[05/27 03:32:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3462 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 03:32:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3462 +[05/27 03:32:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3462: 0/1 successful episodes +[05/27 03:32:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3536 (index 34/115) +[05/27 03:32:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:32:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +Goal: place antique corkscrew with wooden handle next to textured mauve knitted beanie +[2026-05-27 03:33:28,658] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:51:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3536 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4 completed with success=False +[05/27 03:51:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3536: 1 episodes +[05/27 03:51:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:51:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:51:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3536 +[05/27 03:51:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3536 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 03:51:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3536 +[05/27 03:51:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3536: 0/1 successful episodes +[05/27 03:51:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3561 (index 35/115) +[05/27 03:51:39 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:51:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place walkie talkie next to white hardcover programming book +[2026-05-27 03:52:50,601] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:53:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:04:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3561 episode 0 object objawalkietalkie_a480d67491c54b39ba992becac97ca5e_1_0_4 completed with success=False +[05/27 04:04:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place motion-picture camera next to white virus model with red spikes +[2026-05-27 04:05:53,342] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:17:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 3561 episode 1 object objamoviecamera_b80246878f17451184b098df7b081cb7_1_0_6 completed with success=False +[05/27 04:17:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3561: 2 episodes +[05/27 04:17:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:17:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:17:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:17:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:17:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3561 +[05/27 04:17:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3561 in 4.94s (batch: 4.77s, save: 0.17s) +[05/27 04:17:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3561 +[05/27 04:17:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3561: 0/2 successful episodes +[05/27 04:17:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3647 (index 36/115) +[05/27 04:17:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3647 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:17:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 04:17:47 Worker 0 WARNING object_manager.py:1238] Could not find object objabread_3781314af1954867a5eb2bca6c18a955_1_0_2 in scene +[05/27 04:17:47 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene +[05/27 04:17:47 Worker 0 WARNING object_manager.py:1238] Could not find object objareligiousicon_eb6f9f0bf68943a2b5d85ce40fe2c6f9_1_0_3 in scene +Goal: place metal spatula with slots and handle next to european dragon +[2026-05-27 04:18:51,512] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:19:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:37:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 3647 episode 0 object objaspatula_80870db1713949d5a750f510a6dbce54_1_0_2 completed with success=False +[05/27 04:37:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3647: 1 episodes +[05/27 04:37:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:37:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:37:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3647 +[05/27 04:37:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3647 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 04:37:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3647 +[05/27 04:37:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3647: 0/1 successful episodes +[05/27 04:37:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3746 (index 37/115) +[05/27 04:37:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3746 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:37:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place eggs next to cookware +[2026-05-27 04:39:03,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:39:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:40:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3746 episode 0 object egg_458c762f78242a821082a457af28fe5c_1_0_2 completed with success=False +[05/27 04:40:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3746: 1 episodes +[05/27 04:40:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:40:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:40:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3746 +[05/27 04:40:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3746 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 04:40:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3746 +[05/27 04:40:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3746: 0/1 successful episodes +[05/27 04:40:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3795 (index 38/115) +[05/27 04:40:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:40:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place tall tower with red roof and windows next to polished gray human hand +[2026-05-27 04:41:59,603] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:42:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:48:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 3795 episode 0 object objamodelbuilding_a4d581e238fd44bcbc5c47dddafc3952_1_0_3 completed with success=False +[05/27 04:48:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3795: 1 episodes +[05/27 04:48:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:48:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:48:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3795 +[05/27 04:48:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3795 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 04:48:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3795 +[05/27 04:48:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3795: 0/1 successful episodes +[05/27 04:48:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3924 (index 39/115) +[05/27 04:48:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3924 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:48:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place intricate green dragon goblet next to speaker unit +[2026-05-27 04:50:03,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:50:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:02:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 3924 episode 0 object objadecorativegoblet_36e0c8e1fb7d4556805e0a46a80ddea7_1_0_9 completed with success=False +[05/27 05:02:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3924: 1 episodes +[05/27 05:02:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:02:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:02:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3924 +[05/27 05:02:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3924 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 05:02:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3924 +[05/27 05:02:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3924: 0/1 successful episodes +[05/27 05:02:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4063 (index 40/115) +[05/27 05:02:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4063 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:02:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place black metal scope mount with knob next to thick blue hardcover book with pages +[2026-05-27 05:03:44,259] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:10:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4063 episode 0 object objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_3 completed with success=False +[05/27 05:10:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4063: 1 episodes +[05/27 05:10:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:10:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:10:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4063 +[05/27 05:10:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4063 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 05:10:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4063 +[05/27 05:10:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4063: 0/1 successful episodes +[05/27 05:10:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4151 (index 41/115) +[05/27 05:10:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4151 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:10:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/27 05:10:50 Worker 0 WARNING object_manager.py:1238] Could not find object objaruggedtablet_7d98faec09a24d07aed03df9b648c7a9_1_0_2 in scene +Goal: place black rectangular device with pin screen next to small shiny gold dog statue +[2026-05-27 05:11:53,685] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:22:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 4151 episode 0 object objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_7 completed with success=False +[05/27 05:22:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4151: 1 episodes +[05/27 05:22:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:22:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:22:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4151 +[05/27 05:22:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4151 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 05:22:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4151 +[05/27 05:22:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4151: 0/1 successful episodes +[05/27 05:22:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4234 (index 42/115) +[05/27 05:22:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:22:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place rectangular weathered wood with moss next to smooth translucent plastic cup +[2026-05-27 05:23:33,424] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:39:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4234 episode 0 object objadecorativewoodpiece_47bc008c241141a68eac85c8c997ff74_1_0_8 completed with success=False +[05/27 05:39:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4234: 1 episodes +[05/27 05:39:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:39:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:39:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4234 +[05/27 05:39:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4234 in 2.50s (batch: 2.40s, save: 0.09s) +[05/27 05:39:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4234 +[05/27 05:39:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4234: 0/1 successful episodes +[05/27 05:39:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4292 (index 43/115) +[05/27 05:39:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:39:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place spinning top next to burnt parchment with spiral engravings +[2026-05-27 05:40:45,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:41:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:55:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4292 episode 0 object objaspinningtop_8ad13f2440be46aeafeae71875ec2820_1_0_6 completed with success=False +[05/27 05:55:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4292: 1 episodes +[05/27 05:55:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:56:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:56:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4292 +[05/27 05:56:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4292 in 2.85s (batch: 2.75s, save: 0.10s) +[05/27 05:56:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4292 +[05/27 05:56:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4292: 0/1 successful episodes +[05/27 05:56:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4327 (index 44/115) +[05/27 05:56:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:56:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 05:56:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_f4035bcaf9094e34afb664c872233c1c_1_0_9 in scene +Goal: place mechanical clock next to laptop computer +[2026-05-27 05:57:10,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:57:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:11:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4327 episode 0 object objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_6 completed with success=False +[05/27 06:11:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4327: 1 episodes +[05/27 06:11:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:11:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:11:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4327 +[05/27 06:11:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4327 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 06:11:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4327 +[05/27 06:11:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4327: 0/1 successful episodes +[05/27 06:11:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4349 (index 45/115) +[05/27 06:11:13 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4349 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 06:11:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 06:11:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place dark green handheld barcode scanner next to beige pillow +[2026-05-27 06:12:31,402] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:13:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:29:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4349 episode 0 object objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_3 completed with success=False +[05/27 06:29:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 06:29:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place angled lever with stone base next to square dark compact laptop +[2026-05-27 06:30:41,052] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:47:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4349 episode 1 object objalever_5d821ac7148240c092c4face44c1d096_1_0_6 completed with success=False +[05/27 06:47:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4349: 2 episodes +[05/27 06:47:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:47:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:47:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:47:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:47:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4349 +[05/27 06:47:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4349 in 5.47s (batch: 5.30s, save: 0.17s) +[05/27 06:47:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4349 +[05/27 06:47:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4349: 0/2 successful episodes +[05/27 06:47:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4403 (index 46/115) +[05/27 06:47:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 06:47:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 +[05/27 06:48:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 06:48:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 06:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 06:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 06:48:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 06:48:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the portable computer and place it next to the three red tomatoes dripping liquid' +[05/27 06:48:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 4403 episode 0/1 collected=0/2 +[05/27 06:48:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/27 06:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene +Goal: place portable computer next to three red tomatoes dripping liquid +[2026-05-27 06:49:08,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:06:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4403 episode 0 object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_7 completed with success=False +[05/27 07:06:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4403: 1 episodes +[05/27 07:06:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:06:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:06:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4403 +[05/27 07:06:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4403 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 07:06:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4403 +[05/27 07:06:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4403: 0/1 successful episodes +[05/27 07:06:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4497 (index 47/115) +[05/27 07:06:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4497 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:06:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place frenchpress next to white potato +[2026-05-27 07:07:43,124] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:08:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:13:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 4497 episode 0 object objafrenchpress_5d69fbab9a5c4cce946be991c0b5e830_1_0_2 completed with success=False +[05/27 07:13:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4497: 1 episodes +[05/27 07:13:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:13:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:13:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4497 +[05/27 07:13:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4497 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 07:13:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4497 +[05/27 07:13:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4497: 0/1 successful episodes +[05/27 07:13:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4623 (index 48/115) +[05/27 07:13:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:13:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place rustic ceramic lid next to clear glass martini cup +[2026-05-27 07:14:54,482] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:35:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4623 episode 0 object objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_2 completed with success=False +[05/27 07:35:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4623: 1 episodes +[05/27 07:35:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:35:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:35:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4623 +[05/27 07:35:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4623 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 07:35:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4623 +[05/27 07:35:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4623: 0/1 successful episodes +[05/27 07:35:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4682 (index 49/115) +[05/27 07:35:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:35:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place edge tool next to soapdispenser +[2026-05-27 07:36:18,061] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:36:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:48:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4682 episode 0 object objahandplane_4b6de15eb1a94c278ba4b40a3e59dac6_1_0_8 completed with success=False +[05/27 07:48:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4682: 1 episodes +[05/27 07:48:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:48:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:48:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4682 +[05/27 07:48:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4682 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 07:48:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4682 +[05/27 07:48:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4682: 0/1 successful episodes +[05/27 07:48:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4726 (index 50/115) +[05/27 07:48:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4726 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:48:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place tall cream candle in dark holder next to beige bone dog toy +[2026-05-27 07:49:54,304] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:50:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:57:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 4726 episode 0 object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_3 completed with success=False +[05/27 07:57:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4726: 1 episodes +[05/27 07:57:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:57:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:57:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4726 +[05/27 07:57:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4726 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 07:57:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4726 +[05/27 07:57:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4726: 0/1 successful episodes +[05/27 07:57:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4802 (index 51/115) +[05/27 07:57:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:57:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place kokeshi doll next to thick blue hardcover programming book +[2026-05-27 07:58:25,923] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:08:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4802 episode 0 object objakokeshidoll_d3c152a1c4154f279cb590b6643e1640_1_0_7 completed with success=False +[05/27 08:08:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4802: 1 episodes +[05/27 08:08:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:08:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:08:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4802 +[05/27 08:08:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4802 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 08:08:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4802 +[05/27 08:08:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4802: 0/1 successful episodes +[05/27 08:08:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4882 (index 52/115) +[05/27 08:08:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4882 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:08:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place fire department connection next to vintage black ricoh kr-5 camera +[2026-05-27 08:10:01,059] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:10:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:16:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4882 episode 0 object objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_2 completed with success=False +[05/27 08:16:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4882: 1 episodes +[05/27 08:16:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:16:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:16:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4882 +[05/27 08:16:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4882 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 08:16:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4882 +[05/27 08:16:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4882: 0/1 successful episodes +[05/27 08:16:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4974 (index 53/115) +[05/27 08:16:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4974 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:16:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 08:16:21 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeribbon_3be787e16e6a4f5fb8f4830d0b2cb03b_2_0_5 in scene +[05/27 08:16:21 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_2_0_5 in scene +Goal: place arthropod next to simple light brown ceramic bowl +[2026-05-27 08:17:25,411] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:31:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4974 episode 0 object objamoth_a28d9a3820814921929228e03b35f041_1_0_4 completed with success=False +[05/27 08:31:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4974: 1 episodes +[05/27 08:31:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:31:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:31:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4974 +[05/27 08:31:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4974 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 08:31:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4974 +[05/27 08:31:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4974: 0/1 successful episodes +[05/27 08:31:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5097 (index 54/115) +[05/27 08:31:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:31:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place chocolate bunny next to red package +[2026-05-27 08:32:14,953] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:32:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:38:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5097 episode 0 object objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_2 completed with success=False +[05/27 08:38:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5097: 1 episodes +[05/27 08:38:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5097 +[05/27 08:38:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5097 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 08:38:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5097 +[05/27 08:38:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5097: 0/1 successful episodes +[05/27 08:38:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5172 (index 55/115) +[05/27 08:38:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5172 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:38:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 08:38:31 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene +Goal: place black zigzag crown with green gemstone next to green vase +[2026-05-27 08:39:34,025] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:40:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:51:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5172 episode 0 object objadecorativecrown_c5a38852c7484fb1aeeae0aea2509415_1_0_9 completed with success=False +[05/27 08:51:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5172: 1 episodes +[05/27 08:51:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:51:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:51:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5172 +[05/27 08:51:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5172 in 2.64s (batch: 2.55s, save: 0.09s) +[05/27 08:51:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5172 +[05/27 08:51:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5172: 0/1 successful episodes +[05/27 08:51:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5211 (index 56/115) +[05/27 08:51:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:51:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place glossy deep red arrow sign next to clear tapered plastic cup +[2026-05-27 08:52:52,065] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:03:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 5211 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_2 completed with success=False +[05/27 09:03:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5211: 1 episodes +[05/27 09:03:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:03:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:03:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5211 +[05/27 09:03:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5211 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 09:03:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5211 +[05/27 09:03:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5211: 0/1 successful episodes +[05/27 09:03:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5388 (index 57/115) +[05/27 09:03:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:03:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +Goal: place green and yellow sponge next to spray bottle +[2026-05-27 09:05:38,022] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:25:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5388 episode 0 object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_9 completed with success=False +[05/27 09:26:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5388: 1 episodes +[05/27 09:26:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:26:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:26:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5388 +[05/27 09:26:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5388 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 09:26:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5388 +[05/27 09:26:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5388: 0/1 successful episodes +[05/27 09:26:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5464 (index 58/115) +[05/27 09:26:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5464 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:26:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 09:26:20 Worker 0 WARNING object_manager.py:1238] Could not find object objalemon_ab2625342f2c43fe8a383f8f9b4917ab_1_0_6 in scene +[05/27 09:26:20 Worker 0 WARNING object_manager.py:1238] Could not find object statue_82f73072d5461ff460bb390c3adf02fa_1_0_7 in scene +Goal: place brown wooden screwdriver next to blue square plate +[2026-05-27 09:27:24,671] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:27:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:30:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5464 episode 0 object objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_6 completed with success=True +[05/27 09:30:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5464: 1 episodes +[05/27 09:30:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 134 timesteps +[05/27 09:30:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:30:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5464 +[05/27 09:30:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5464 in 2.51s (batch: 2.46s, save: 0.04s) +[05/27 09:30:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5464 +[05/27 09:30:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5464: 1/1 successful episodes +[05/27 09:30:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5548 (index 59/115) +[05/27 09:30:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5548 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:30:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place square brown disposable container with chopsticks next to natural covering +[2026-05-27 09:33:29,640] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:42:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5548 episode 0 object objafoodcontainer_2b8f5805bb0146158ede9d2b4d9d98ec_1_0_6 completed with success=False +[05/27 09:42:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5548: 1 episodes +[05/27 09:42:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:42:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:42:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5548 +[05/27 09:42:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5548 in 2.35s (batch: 2.26s, save: 0.09s) +[05/27 09:42:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5548 +[05/27 09:42:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5548: 0/1 successful episodes +[05/27 09:42:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5618 (index 60/115) +[05/27 09:42:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5618 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:42:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 09:42:50 Worker 0 WARNING object_manager.py:1238] Could not find object objahammer_3812462cf5424282a7256bb76365dd68_1_0_6 in scene +[05/27 09:42:50 Worker 0 WARNING object_manager.py:1238] Could not find object vase_e3478e74916159222cb33c5c329dc2b8_1_0_6 in scene +Goal: place black and red pixelated figure next to small red barn model with windows +[2026-05-27 09:43:54,057] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:53:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5618 episode 0 object objaabstractfigure_2b7ff505ad10442ea162476b4e00e408_1_0_7 completed with success=False +[05/27 09:53:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5618: 1 episodes +[05/27 09:53:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:53:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:53:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5618 +[05/27 09:53:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5618 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 09:53:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5618 +[05/27 09:53:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5618: 0/1 successful episodes +[05/27 09:53:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5672 (index 61/115) +[05/27 09:53:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:53:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place turquoise decorative hourglass with beads next to yellow wooden pencil +[2026-05-27 09:55:02,362] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:55:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:09:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5672 episode 0 object objadecorativehourglass_b7df02cc3f844d2a9b39d4f215c3931d_1_0_9 completed with success=False +[05/27 10:09:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5672: 1 episodes +[05/27 10:09:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:09:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:09:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5672 +[05/27 10:09:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5672 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 10:09:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5672 +[05/27 10:09:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5672: 0/1 successful episodes +[05/27 10:09:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5786 (index 62/115) +[05/27 10:09:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5786 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:09:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place yellow pencil with pink eraser next to white pillow +[2026-05-27 10:11:35,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:12:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:24:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 5786 episode 0 object objapencil_a405129f76194666aace56c08219e94c_1_0_9 completed with success=False +[05/27 10:24:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5786: 1 episodes +[05/27 10:24:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:24:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:24:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5786 +[05/27 10:24:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5786 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 10:24:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5786 +[05/27 10:24:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5786: 0/1 successful episodes +[05/27 10:24:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5898 (index 63/115) +[05/27 10:24:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5898 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:24:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 10:24:55 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 10:24:55 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_539c979c75b34576b75f3383e96eadb5_1_0_5 in scene +Goal: place small ceramic church model with steeple next to bulbous shiny gold vase +[2026-05-27 10:25:58,382] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:26:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:36:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5898 episode 0 object objaceramicmodel_45b9548330234d4b93cae76cd2f00521_1_0_7 completed with success=False +[05/27 10:36:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5898: 1 episodes +[05/27 10:36:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:37:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:37:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5898 +[05/27 10:37:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5898 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 10:37:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5898 +[05/27 10:37:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5898: 0/1 successful episodes +[05/27 10:37:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5959 (index 64/115) +[05/27 10:37:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5959 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:37:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place dark metal medieval torch next to spray bottle +[2026-05-27 10:38:12,625] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:38:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:40:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5959 episode 0 object objadecorativetorch_fc829f78d01c451a8f3c808099691225_1_0_5 completed with success=False +[05/27 10:40:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5959: 1 episodes +[05/27 10:40:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:40:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:40:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5959 +[05/27 10:40:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5959 in 2.46s (batch: 2.36s, save: 0.10s) +[05/27 10:40:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5959 +[05/27 10:40:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5959: 0/1 successful episodes +[05/27 10:40:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6069 (index 65/115) +[05/27 10:40:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:40:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_7 in scene +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_8 in scene +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_8 in scene +Goal: place wedge shape next to crockery +[2026-05-27 10:41:38,389] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:56:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 6069 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_2_0_8 completed with success=False +[05/27 10:56:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6069: 1 episodes +[05/27 10:56:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:56:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:56:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6069 +[05/27 10:56:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6069 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 10:56:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6069 +[05/27 10:56:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6069: 0/1 successful episodes +[05/27 10:56:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6144 (index 66/115) +[05/27 10:56:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:56:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place sleek metallic wall hook next to tin hat +[2026-05-27 10:57:24,850] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:58:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:06:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 6144 episode 0 object objawallhook_f289067f678d44eb9ac1446a22d24d06_1_0_6 completed with success=False +[05/27 11:06:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6144: 1 episodes +[05/27 11:06:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:06:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:06:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6144 +[05/27 11:06:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6144 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 11:06:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6144 +[05/27 11:06:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6144: 0/1 successful episodes +[05/27 11:06:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6208 (index 67/115) +[05/27 11:06:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:06:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 11:06:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene +[05/27 11:06:32 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene +[05/27 11:06:32 Worker 0 WARNING object_manager.py:1238] Could not find object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_7 in scene +Goal: place minimalist matte rectangular name plaque next to vintage metal box +[2026-05-27 11:07:34,619] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:08:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:21:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 6208 episode 0 object objaplaque_42aafcfc945b4f8d98e5401ca29051cc_1_0_9 completed with success=False +[05/27 11:21:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6208: 1 episodes +[05/27 11:21:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:21:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:21:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6208 +[05/27 11:21:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6208 in 2.63s (batch: 2.55s, save: 0.09s) +[05/27 11:21:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6208 +[05/27 11:21:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6208: 0/1 successful episodes +[05/27 11:21:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6271 (index 68/115) +[05/27 11:21:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6271 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:21:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place vintage gray camcorder with handle next to blue hardcover book +[2026-05-27 11:22:42,800] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:42:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 6271 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_4 completed with success=False +[05/27 11:42:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6271: 1 episodes +[05/27 11:42:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:42:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:42:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6271 +[05/27 11:42:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6271 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 11:42:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6271 +[05/27 11:42:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6271: 0/1 successful episodes +[05/27 11:42:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6325 (index 69/115) +[05/27 11:42:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6325 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:42:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 11:42:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_9 in scene +Goal: place turquoise cardboard notebook next to driftwood +[2026-05-27 11:43:48,870] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:44:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:54:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 6325 episode 0 object objanotebook_a8c59f42000e4d3a9f483c289fd09512_1_0_8 completed with success=False +[05/27 11:54:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6325: 1 episodes +[05/27 11:54:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:54:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:54:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6325 +[05/27 11:54:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6325 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 11:54:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6325 +[05/27 11:54:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6325: 0/1 successful episodes +[05/27 11:54:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6396 (index 70/115) +[05/27 11:54:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:54:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 11:54:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place ceramiccat next to dark teal box +[2026-05-27 11:56:00,713] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:56:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:12:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 6396 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_4 completed with success=False +[05/27 12:12:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6396: 1 episodes +[05/27 12:12:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:12:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:12:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6396 +[05/27 12:12:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6396 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 12:12:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6396 +[05/27 12:12:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6396: 0/1 successful episodes +[05/27 12:12:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6485 (index 71/115) +[05/27 12:12:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6485 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 12:12:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place holding device next to bulbous shiny gold metallic vase +[2026-05-27 12:14:17,850] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:14:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:29:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 6485 episode 0 object objahandhelddevice_fd9fdf81ab624a66897bbd8ac299e26f_1_0_4 completed with success=False +[05/27 12:29:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place sleek black handheld vacuum with yellow next to bulbous shiny gold vase +[2026-05-27 12:30:15,577] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:30:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:44:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 6485 episode 1 object objahandheldvacuumcleaner_61bd367277d2471bbe28c9ff7ef227a1_1_0_4 completed with success=False +[05/27 12:44:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6485: 2 episodes +[05/27 12:44:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:44:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:45:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:45:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:45:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6485 +[05/27 12:45:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6485 in 5.64s (batch: 5.41s, save: 0.23s) +[05/27 12:45:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6485 +[05/27 12:45:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6485: 0/2 successful episodes +[05/27 12:45:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6492 (index 72/115) +[05/27 12:45:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 12:45:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 12:45:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternaldvddrive_d9b63231980e4719aca47048767062af_1_0_5 in scene +[05/27 12:45:06 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene +Goal: place black rubber air blower next to spray paint +[2026-05-27 12:46:08,348] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:58:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 6492 episode 0 object objaairblower_c1894126b3394345835758d674b7435e_2_0_4 completed with success=False +[05/27 12:58:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6492: 1 episodes +[05/27 12:58:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:58:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:58:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6492 +[05/27 12:58:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6492 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 12:58:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6492 +[05/27 12:58:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6492: 0/1 successful episodes +[05/27 12:58:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6591 (index 73/115) +[05/27 12:58:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 12:58:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 12:59:04 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene +Goal: place fiber cleaver next to slim blue phone device +[2026-05-27 13:00:07,007] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:18:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6591 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_8 completed with success=False +[05/27 13:18:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6591: 1 episodes +[05/27 13:18:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:18:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:18:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6591 +[05/27 13:18:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6591 in 2.56s (batch: 2.46s, save: 0.10s) +[05/27 13:18:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6591 +[05/27 13:18:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6591: 0/1 successful episodes +[05/27 13:18:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6721 (index 74/115) +[05/27 13:18:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 13:18:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place white teacup with gold handle next to slim gold metallic smartphone with buttons +[2026-05-27 13:20:03,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:35:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 6721 episode 0 object objateacup_f7306387666943a3a53852fca4a977a2_1_0_6 completed with success=False +[05/27 13:35:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6721: 1 episodes +[05/27 13:35:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:35:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:35:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6721 +[05/27 13:35:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6721 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 13:35:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6721 +[05/27 13:35:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6721: 0/1 successful episodes +[05/27 13:35:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6788 (index 75/115) +[05/27 13:35:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 13:35:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 13:35:26 Worker 0 WARNING object_manager.py:1238] Could not find object objacap_4fb9681973e841209810c607560dede6_1_0_6 in scene +[05/27 13:35:26 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_2_0_9 in scene +Goal: place 3d india map with flag colors next to white crocodile skull +[2026-05-27 13:36:29,018] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:37:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:47:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 6788 episode 0 object objadecorativemap_5f5fa02e9e02420881536168a660c47b_1_0_8 completed with success=False +[05/27 13:47:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6788: 1 episodes +[05/27 13:47:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:47:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:47:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6788 +[05/27 13:47:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6788 in 2.72s (batch: 2.62s, save: 0.09s) +[05/27 13:47:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6788 +[05/27 13:47:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6788: 0/1 successful episodes +[05/27 13:47:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6911 (index 76/115) +[05/27 13:47:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 13:47:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 13:48:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene +[05/27 13:48:10 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +Goal: place blue hammer with orange handle next to medium-sized light brown oval potato +[2026-05-27 13:49:13,513] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:49:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:00:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 6911 episode 0 object objahandtool_ed6973497d074fd6969fd06f52e8da04_1_0_8 completed with success=False +[05/27 14:00:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6911: 1 episodes +[05/27 14:00:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:00:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:00:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6911 +[05/27 14:00:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6911 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 14:00:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6911 +[05/27 14:00:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6911: 0/1 successful episodes +[05/27 14:00:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6981 (index 77/115) +[05/27 14:00:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:00:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place shackle next to glossy red ceramic mug with handle +[2026-05-27 14:02:17,954] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:02:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:13:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 6981 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_2 completed with success=False +[05/27 14:13:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6981: 1 episodes +[05/27 14:13:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:13:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:13:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6981 +[05/27 14:13:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6981 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 14:13:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6981 +[05/27 14:13:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6981: 0/1 successful episodes +[05/27 14:13:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7030 (index 78/115) +[05/27 14:13:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:13:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place vintage cast iron clothes iron next to clear glass martini cup +[2026-05-27 14:14:50,429] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:15:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:20:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 7030 episode 0 object objaclothesiron_85d03c142cf04e258f254e7112850ba7_1_0_2 completed with success=False +[05/27 14:20:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7030: 1 episodes +[05/27 14:20:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:20:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:20:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7030 +[05/27 14:20:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7030 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 14:20:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7030 +[05/27 14:20:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7030: 0/1 successful episodes +[05/27 14:20:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7097 (index 79/115) +[05/27 14:20:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:20:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place chocolate wrapper next to golden bread +[2026-05-27 14:22:18,557] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:22:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:37:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 7097 episode 0 object objapackagedfood_5ceecc4773b845a5b9addfa0f324f159_1_0_2 completed with success=False +[05/27 14:38:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7097: 1 episodes +[05/27 14:38:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:38:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:38:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7097 +[05/27 14:38:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7097 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 14:38:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7097 +[05/27 14:38:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7097: 0/1 successful episodes +[05/27 14:38:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7177 (index 80/115) +[05/27 14:38:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:38:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 14:38:38 Worker 0 WARNING object_manager.py:1238] Could not find object objamolding_fafc3a00286842408c0e020b99c92b3d_1_0_6 in scene +Goal: place white lint roller with black handle next to blue soap bottle with orange pump +[2026-05-27 14:39:42,660] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 7177 episode 0 object objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_2 completed with success=False +[05/27 14:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7177: 1 episodes +[05/27 14:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:54:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:54:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7177 +[05/27 14:54:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7177 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 14:54:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7177 +[05/27 14:54:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7177: 0/1 successful episodes +[05/27 14:54:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7301 (index 81/115) +[05/27 14:54:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7301 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:54:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place polished wooden goblet next to vintage teal blue toy van +[2026-05-27 14:55:31,979] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:56:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:03:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7301 episode 0 object objagoblet_35c17f99abdd4ff995fe8b392865a37c_1_0_2 completed with success=False +[05/27 15:03:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7301: 1 episodes +[05/27 15:03:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:03:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:03:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7301 +[05/27 15:03:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7301 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 15:03:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7301 +[05/27 15:03:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7301: 0/1 successful episodes +[05/27 15:03:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7348 (index 82/115) +[05/27 15:03:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:03:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place solid food next to soapdispenser +[2026-05-27 15:04:55,484] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:05:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:18:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 7348 episode 0 object objameat_42c4cf5f1af84cfa9800dff288f13a44_1_0_8 completed with success=False +[05/27 15:18:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7348: 1 episodes +[05/27 15:18:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:18:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:18:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7348 +[05/27 15:18:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7348 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 15:18:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7348 +[05/27 15:18:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7348: 0/1 successful episodes +[05/27 15:18:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7405 (index 83/115) +[05/27 15:18:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7405 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:18:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place folded soft taco with lettuce filling next to fresh oval-shaped green lettuce head +[2026-05-27 15:19:42,002] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:20:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:27:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 7405 episode 0 object objataco_5b8095131eca4914b6dce4e96b290a3f_1_0_2 completed with success=False +[05/27 15:27:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7405: 1 episodes +[05/27 15:27:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:27:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:27:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7405 +[05/27 15:27:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7405 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 15:27:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7405 +[05/27 15:27:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7405: 0/1 successful episodes +[05/27 15:27:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7472 (index 84/115) +[05/27 15:27:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:27:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place glossy smooth oval beige egg next to solanaceous vegetable +[2026-05-27 15:28:40,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:29:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:36:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 7472 episode 0 object egg_15cf0be37a6e2484728ad7e6fc53f181_1_0_2 completed with success=False +[05/27 15:36:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7472: 1 episodes +[05/27 15:36:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:36:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:36:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7472 +[05/27 15:36:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7472 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 15:36:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7472 +[05/27 15:36:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7472: 0/1 successful episodes +[05/27 15:36:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7569 (index 85/115) +[05/27 15:36:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7569 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:36:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 15:36:29 Worker 0 WARNING object_manager.py:1238] Could not find object objasleepmask_e010cefb12434adaa70c64b0f9bae79a_1_0_3 in scene +[05/27 15:36:29 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene +Goal: place brown plastic rake with five tines next to bronze full-figured statue +[2026-05-27 15:37:32,440] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:50:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7569 episode 0 object objarake_d2c6209177484c299f7d806f5544dec6_2_0_2 completed with success=False +[05/27 15:51:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7569: 1 episodes +[05/27 15:51:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:51:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:51:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7569 +[05/27 15:51:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7569 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 15:51:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7569 +[05/27 15:51:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7569: 0/1 successful episodes +[05/27 15:51:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7672 (index 86/115) +[05/27 15:51:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:51:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place smooth brown chicken egg next to transparent soap bottle with bronze pump +[2026-05-27 15:52:11,321] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:52:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:54:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 7672 episode 0 object egg_8105fb5ffac56e85221c0eea53ac4fb5_1_0_2 completed with success=False +[05/27 15:54:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7672: 1 episodes +[05/27 15:54:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:54:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:54:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7672 +[05/27 15:54:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7672 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 15:54:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7672 +[05/27 15:54:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7672: 0/1 successful episodes +[05/27 15:54:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7774 (index 87/115) +[05/27 15:54:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:54:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place light gray stone chess knight next to rectangular card with squid +[2026-05-27 15:55:53,822] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:56:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:12:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 7774 episode 0 object objachesspiece_11048451bddc416eb4872caad8f0ba35_1_0_3 completed with success=False +[05/27 16:12:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7774: 1 episodes +[05/27 16:12:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:12:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:12:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7774 +[05/27 16:12:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7774 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 16:12:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7774 +[05/27 16:12:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7774: 0/1 successful episodes +[05/27 16:12:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7857 (index 88/115) +[05/27 16:12:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:12:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place black rectangular device with pin screen next to blue egg with yellow moon spots +[2026-05-27 16:13:19,509] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:14:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 7857 episode 0 object objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_2 completed with success=True +[05/27 16:14:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7857: 1 episodes +[05/27 16:14:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 58 timesteps +[05/27 16:14:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:14:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7857 +[05/27 16:14:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7857 in 2.44s (batch: 2.41s, save: 0.03s) +[05/27 16:14:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7857 +[05/27 16:14:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7857: 1/1 successful episodes +[05/27 16:14:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7973 (index 89/115) +[05/27 16:14:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7973 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:14:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place pliers next to red tractor +[2026-05-27 16:16:10,683] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:16:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:26:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 7973 episode 0 object objapincers_76dfab9b43c346c781e1c0edd3afe534_1_0_7 completed with success=False +[05/27 16:26:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7973: 1 episodes +[05/27 16:26:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:26:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:26:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7973 +[05/27 16:26:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7973 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 16:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7973 +[05/27 16:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7973: 0/1 successful episodes +[05/27 16:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8064 (index 90/115) +[05/27 16:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8064 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place effects unit next to open cardboard box flaps +[2026-05-27 16:27:29,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:38:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 8064 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 completed with success=False +[05/27 16:38:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8064: 1 episodes +[05/27 16:38:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:38:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:38:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8064 +[05/27 16:38:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8064 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 16:38:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8064 +[05/27 16:38:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8064: 0/1 successful episodes +[05/27 16:38:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8136 (index 91/115) +[05/27 16:38:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8136 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:38:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaterrainpatch_b649d14ef25b4d509f880fa217d13e3b_1_0_4 in scene +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4 in scene +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_9454424987bf45eb9bf7290823ca0cf1_1_0_5 in scene +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object candle_09223ab74c3b4b8525bb3f1f1bd405c2_2_0_5 in scene +Goal: place decorative knife with green handle next to red round tomato +[2026-05-27 16:40:08,104] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:40:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:57:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 8136 episode 0 object objadecorativeknife_ba81008c318c4af494b46d6b75770d79_1_0_2 completed with success=False +[05/27 16:57:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8136: 1 episodes +[05/27 16:57:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:57:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:57:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8136 +[05/27 16:57:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8136 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 16:57:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8136 +[05/27 16:57:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8136: 0/1 successful episodes +[05/27 16:57:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8231 (index 92/115) +[05/27 16:57:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:57:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place blue bomb with skull next to thick blue hardcover book with pages +[2026-05-27 16:59:12,440] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:59:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:09:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8231 episode 0 object objatoybomb_1631526a79b44d3a96382b1802a59fb7_1_0_7 completed with success=False +[05/27 17:09:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8231: 1 episodes +[05/27 17:09:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:09:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:09:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8231 +[05/27 17:09:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8231 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 17:09:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8231 +[05/27 17:09:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8231: 0/1 successful episodes +[05/27 17:09:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8303 (index 93/115) +[05/27 17:09:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:09:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place gray submarine next to edible fruit +[2026-05-27 17:10:21,510] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:10:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8303 episode 0 object objatoysubmarine_caf68e270c8f4da4817eaeaa231248e8_1_0_2 completed with success=False +[05/27 17:25:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8303: 1 episodes +[05/27 17:25:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8303 +[05/27 17:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8303 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 17:25:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8303 +[05/27 17:25:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8303: 0/1 successful episodes +[05/27 17:25:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8388 (index 94/115) +[05/27 17:25:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:25:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place twisted wooden club with handle next to slim dark cellphone with volume buttons +[2026-05-27 17:26:26,086] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:35:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 8388 episode 0 object objadecorativeclub_3f58af56c3dd48b6982f03e0d2098bd5_1_0_2 completed with success=False +[05/27 17:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8388: 1 episodes +[05/27 17:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:36:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8388 +[05/27 17:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8388 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 17:36:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8388 +[05/27 17:36:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8388: 0/1 successful episodes +[05/27 17:36:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8447 (index 95/115) +[05/27 17:36:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8447 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:36:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 17:36:19 Worker 0 WARNING object_manager.py:1238] Could not find object objacalendar_66167a28782a4472a531436b59ebbe40_1_0_2 in scene +[05/27 17:36:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +Goal: place wooden goblet next to old accordion camera +[2026-05-27 17:37:23,045] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:57:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 8447 episode 0 object objagoblet_69ccd4f7ef0d40db876d4f15fc5f7b32_1_0_7 completed with success=False +[05/27 17:57:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8447: 1 episodes +[05/27 17:57:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:57:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:57:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8447 +[05/27 17:57:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8447 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 17:57:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8447 +[05/27 17:57:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8447: 0/1 successful episodes +[05/27 17:57:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8537 (index 96/115) +[05/27 17:57:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:57:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 +[05/27 17:57:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 17:57:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 17:57:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 17:57:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 17:57:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 17:57:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue laptop and place it next to the beige mechanical component with red accents' +[05/27 17:57:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 8537 episode 0/1 collected=0/2 +[05/27 17:57:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +Goal: place blue laptop next to beige mechanical component with red accents +[2026-05-27 17:58:20,908] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:58:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:03:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 8537 episode 0 object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_2 completed with success=False +[05/27 18:03:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8537: 1 episodes +[05/27 18:03:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:03:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:03:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8537 +[05/27 18:03:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8537 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 18:03:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8537 +[05/27 18:03:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8537: 0/1 successful episodes +[05/27 18:03:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8643 (index 97/115) +[05/27 18:03:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8643 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:03:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place world cube next to small green house plant in pot +[2026-05-27 18:05:12,133] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:05:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:18:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 8643 episode 0 object objapuzzle_8c4b97dfc3014b69848bd040a3c866e5_1_0_4 completed with success=False +[05/27 18:18:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8643: 1 episodes +[05/27 18:18:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:18:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:18:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8643 +[05/27 18:18:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8643 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 18:18:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8643 +[05/27 18:18:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8643: 0/1 successful episodes +[05/27 18:18:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8720 (index 98/115) +[05/27 18:18:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8720 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:18:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place small gray smooth cup next to black and white book +[2026-05-27 18:20:00,119] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:20:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 8720 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=False +[05/27 18:28:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8720: 1 episodes +[05/27 18:28:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:28:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8720 +[05/27 18:28:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8720 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 18:28:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8720 +[05/27 18:28:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8720: 0/1 successful episodes +[05/27 18:28:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8805 (index 99/115) +[05/27 18:28:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8805 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:28:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 18:29:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place white electrical connector next to shiny purple quilted pillow +[2026-05-27 18:30:18,831] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:42:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 8805 episode 0 object objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_9 completed with success=False +[05/27 18:42:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8805: 1 episodes +[05/27 18:42:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:42:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:42:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8805 +[05/27 18:42:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8805 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 18:42:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8805 +[05/27 18:42:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8805: 0/1 successful episodes +[05/27 18:42:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8881 (index 100/115) +[05/27 18:42:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:42:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place bulbous shiny gold metallic vase next to small oval brown potato +[2026-05-27 18:43:20,323] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:43:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:45:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 8881 episode 0 object vase_d568e4c5c2948c69c05d527517276b06_1_0_6 completed with success=False +[05/27 18:46:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8881: 1 episodes +[05/27 18:46:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:46:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:46:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8881 +[05/27 18:46:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8881 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 18:46:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8881 +[05/27 18:46:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8881: 0/1 successful episodes +[05/27 18:46:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8952 (index 101/115) +[05/27 18:46:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8952 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:46:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 18:46:20 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_9 in scene +Goal: place red compact handheld device with label next to smooth light ceramic bowl +[2026-05-27 18:47:22,923] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:48:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:01:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 8952 episode 0 object objatool_9796cef620844a89ad045826ed1ae1d1_1_0_8 completed with success=False +[05/27 19:01:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8952: 1 episodes +[05/27 19:01:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:01:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:01:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8952 +[05/27 19:01:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8952 in 2.94s (batch: 2.84s, save: 0.10s) +[05/27 19:01:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8952 +[05/27 19:01:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8952: 0/1 successful episodes +[05/27 19:01:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9022 (index 102/115) +[05/27 19:01:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9022 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:01:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place smooth yellow apple with stem next to fresh green lettuce +[2026-05-27 19:02:54,014] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:03:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:13:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 9022 episode 0 object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_6 completed with success=False +[05/27 19:13:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9022: 1 episodes +[05/27 19:13:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:13:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:13:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9022 +[05/27 19:13:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9022 in 2.79s (batch: 2.70s, save: 0.10s) +[05/27 19:13:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9022 +[05/27 19:13:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9022: 0/1 successful episodes +[05/27 19:13:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9087 (index 103/115) +[05/27 19:13:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:13:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place miniature trafficlight with red light next to slim rectangular red phone device +[2026-05-27 19:14:40,200] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:15:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:20:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 9087 episode 0 object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_2 completed with success=False +[05/27 19:20:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9087: 1 episodes +[05/27 19:20:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:20:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:20:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9087 +[05/27 19:20:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9087 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 19:21:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9087 +[05/27 19:21:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9087: 0/1 successful episodes +[05/27 19:21:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9152 (index 104/115) +[05/27 19:21:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9152 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:21:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 19:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaarchaeologicalmodel_d8275f5a478c4157a9ecbb8562034789_1_0_2 in scene +[05/27 19:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object apple_0a9ba98f2af520d91d8acc78da62b984_1_0_2 in scene +Goal: place metallic needle-nose pliers with grips next to smooth gray bowl +[2026-05-27 19:22:36,288] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:23:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:37:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 9152 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_4 completed with success=False +[05/27 19:37:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 19:37:24 Worker 0 WARNING object_manager.py:1238] Could not find object objaarchaeologicalmodel_d8275f5a478c4157a9ecbb8562034789_1_0_2 in scene +[05/27 19:37:24 Worker 0 WARNING object_manager.py:1238] Could not find object apple_0a9ba98f2af520d91d8acc78da62b984_1_0_2 in scene +Goal: place red futuristic handheld device with grip next to black stylized handgun with blue accents +[2026-05-27 19:38:29,038] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:39:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:53:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 9152 episode 1 object objatoygun_8a193bd9d7944b5baf2031f5fb80a7a3_1_0_7 completed with success=False +[05/27 19:53:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9152: 2 episodes +[05/27 19:53:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:53:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:53:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:53:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:53:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9152 +[05/27 19:53:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9152 in 4.93s (batch: 4.75s, save: 0.17s) +[05/27 19:53:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9152 +[05/27 19:53:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9152: 0/2 successful episodes +[05/27 19:53:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9156 (index 105/115) +[05/27 19:53:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9156 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:53:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place locking pliers next to soapdispenser +[2026-05-27 19:54:36,668] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:55:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:11:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 9156 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False +[05/27 20:11:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9156: 1 episodes +[05/27 20:11:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:11:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:11:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9156 +[05/27 20:11:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9156 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 20:11:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9156 +[05/27 20:11:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9156: 0/1 successful episodes +[05/27 20:11:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9234 (index 106/115) +[05/27 20:11:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:11:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place colorful flower next to oval brown potato +[2026-05-27 20:12:27,825] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:13:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:18:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 9234 episode 0 object objaflowersculpture_4d3f1c2044814320af551030c3bf0e9d_1_0_6 completed with success=False +[05/27 20:18:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9234: 1 episodes +[05/27 20:18:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:18:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:18:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9234 +[05/27 20:18:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9234 in 2.43s (batch: 2.33s, save: 0.09s) +[05/27 20:18:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9234 +[05/27 20:18:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9234: 0/1 successful episodes +[05/27 20:18:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9308 (index 107/115) +[05/27 20:18:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9308 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:18:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place wooden humanoid puzzle piece next to shiny gold vase +[2026-05-27 20:19:22,941] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:19:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:29:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9308 episode 0 object objapuzzlepiece_2dbbd65cb2614e8481d2b1f0760c37a8_1_0_7 completed with success=False +[05/27 20:29:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9308: 1 episodes +[05/27 20:29:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:29:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:29:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9308 +[05/27 20:29:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9308 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 20:29:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9308 +[05/27 20:29:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9308: 0/1 successful episodes +[05/27 20:29:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9422 (index 108/115) +[05/27 20:29:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9422 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:29:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyspacecraft_f42792c81950490faaabc21ae1f2019a_1_0_2 in scene +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_27f41066f714b93c23f7a8f42a932407_1_0_2 in scene +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_8c4ab0ebeae63b9cd60e6686b8602751_1_0_2 in scene +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebadge_8a1845ddd6fa4a2e8102c30675ff11e5_1_0_6 in scene +Goal: place teal cat next to rustic round beige ceramic plate +[2026-05-27 20:30:43,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:42:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9422 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_2 completed with success=False +[05/27 20:42:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9422: 1 episodes +[05/27 20:42:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:42:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:42:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9422 +[05/27 20:42:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9422 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 20:42:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9422 +[05/27 20:42:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9422: 0/1 successful episodes +[05/27 20:42:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9496 (index 109/115) +[05/27 20:42:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9496 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:42:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place movie camera next to green floral wedding invitation +[2026-05-27 20:44:45,007] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:59:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 9496 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_8 completed with success=False +[05/27 20:59:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9496: 1 episodes +[05/27 20:59:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:59:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:59:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9496 +[05/27 20:59:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9496 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 20:59:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9496 +[05/27 20:59:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9496: 0/1 successful episodes +[05/27 20:59:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9554 (index 110/115) +[05/27 20:59:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9554 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:59:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 21:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objawallplaque_4ac6037405274ec4893b7979a707d625_1_0_6 in scene +[05/27 21:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_de5352f233c6a9b4bf912bb08ebc2810_1_0_6 in scene +Goal: place black spray paint can next to olive scalloped ceramic plate +[05/27 21:00:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:14:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 9554 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_9 completed with success=False +[05/27 21:14:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9554: 1 episodes +[05/27 21:14:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:14:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:14:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9554 +[05/27 21:14:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9554 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 21:14:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9554 +[05/27 21:14:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9554: 0/1 successful episodes +[05/27 21:14:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9642 (index 111/115) +[05/27 21:14:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9642 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:14:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 21:15:00 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_3 in scene +Goal: place white aerosol can with rusted top next to white tape dispenser +[2026-05-27 21:16:03,623] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 9642 episode 0 object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_3 completed with success=False +[05/27 21:25:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9642: 1 episodes +[05/27 21:25:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9642 +[05/27 21:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9642 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 21:25:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9642 +[05/27 21:25:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9642: 0/1 successful episodes +[05/27 21:25:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9719 (index 112/115) +[05/27 21:25:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9719 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:25:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 21:25:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place dark vintage rectangular chocolate mold next to sleek black toaster with red sides +[2026-05-27 21:26:24,159] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:26:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:40:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 9719 episode 0 object objachocolatemold_f410c9f5784d435ea17c89e2f51bc439_1_0_8 completed with success=False +[05/27 21:40:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9719: 1 episodes +[05/27 21:40:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:40:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:40:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9719 +[05/27 21:40:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9719 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 21:40:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9719 +[05/27 21:40:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9719: 0/1 successful episodes +[05/27 21:40:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9886 (index 113/115) +[05/27 21:40:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:40:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 21:40:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_7 in scene +[05/27 21:40:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_7 in scene +[05/27 21:40:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place turquoise can next to brown loaf bread +[2026-05-27 21:41:51,821] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:54:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 9886 episode 0 object objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_8 completed with success=False +[05/27 21:54:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9886: 1 episodes +[05/27 21:54:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:54:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9886 +[05/27 21:54:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9886 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 21:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9886 +[05/27 21:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9886: 0/1 successful episodes +[05/27 21:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9958 (index 114/115) +[05/27 21:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9958 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place curved ceramic tube next to yellow apple with stem +[2026-05-27 21:55:52,425] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:56:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:09:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 9958 episode 0 object objapipe_bf11f43f2d674918b4618bfbacaef123_1_0_8 completed with success=False +[05/27 22:10:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9958: 1 episodes +[05/27 22:10:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:10:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:10:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9958 +[05/27 22:10:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9958 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 22:10:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9958 +[05/27 22:10:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9958: 0/1 successful episodes +[05/27 22:10:03 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 22:10:04 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 22:10:04 INFO pipeline.py:1499] Success count: 2, Total count: 119 +[05/27 22:10:04 INFO pipeline.py:1500] Success rate: 1.68% +Combined 119 episodes from 115 files → /tmp/tmp4ihor1tz.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv at-end: 1.68% | oracle: 1.68% of 119 episodes +[2026-05-27 22:10:18,242] INFO MolmoSpaces simulator eval finished: success=2/119 rate=0.0168 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval +[2026-05-27 22:10:18,242] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..8365f3d7378281360b29e524d9b475d7b422b4f4 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..729f1f557dfdf5effd53521109e0700c008e4e38 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/episode_results.jsonl @@ -0,0 +1,119 @@ +{"house_id": "house_1042", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hand mirror and place it next to the glossy russian doll with flowers", "object_name": "objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1042/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1170", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rugged green tactical mask with goggles and place it next to the glossy blue hexagonal emblem with letters", "object_name": "objatacticalmask_2ae79f9bdbba41a0a80e4bc0f8bfe95f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1170/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1234", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it next to the vintage minerva stopwatch beige", "object_name": "objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1234/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1328", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue and silver logo plaque and place it next to the green hardcover book titled the effective engineer", "object_name": "objalogoplaque_3debec4b2b6e4fc1b072828dbbdddac3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1328/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1388", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the geometric brown acorn shape and place it next to the slim blue phone device", "object_name": "objaacorn_421068a9395b496fa86c81792c20adc8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1388/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1504", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden mechanical clock with visible gears and place it next to the small wooden orange sailboat", "object_name": "objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1504/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1634", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green prism with dog and place it next to the translucent plastic ergonomic spray bottle", "object_name": "objaphotoblock_4d5340816228455a944a36753b977425_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1634/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1731", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic human hand and place it next to the shallow blue-gray metal frying pan", "object_name": "objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1731/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1778", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium dark metal pot and place it next to the nutrient", "object_name": "pot_3f96121c2844b96ea193d53feeb1602e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1778/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1907", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the detailed crucifix with figure and place it next to the laptop", "object_name": "objacrucifix_66cef9006e22443089458c6c5d990855_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1907/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2021", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tissue paper and place it next to the round orange pumpkin with curved stem", "object_name": "objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2021/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2041", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden corkscrew with lever and place it next to the gray moon", "object_name": "objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2041/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2165", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow device with antenna and eye symbol and place it next to the medium brown cardboard box open", "object_name": "objadecorativedevice_c866460d8cbc436b80b31c7eefb6d2d1_1_0_3", "data_file_path": 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"Pick up the colorful rubik's cube and place it next to the realistic human hand", "object_name": "objapuzzletoy_ff1c335452a24bdbb6e09d3443288085_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2384/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2478", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the heavy-duty metal shackle and place it next to the gray pyramid die with turquoise numbers", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6", "data_file_path": 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449, "task_description": "Pick up the knurled metal cylinder silencer and place it next to the blue soap bottle", "object_name": "objasilencer_2697ccda6f8842828f833a7292cb68d9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2681/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2805", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black immersion blender and place it next to the yellow fountain pen with gold nib", "object_name": "objaimmersionblender_b44195533bc947af86f7e0eb9f0fdbce_1_0_6", "data_file_path": 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"Pick up the glossy yellow vase and place it next to the dark gray coral with branches", "object_name": "vase_cb3703664cbf21eb7b79c941e5ea5d5b_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2978/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3096", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the reddish leather book with teeth and place it next to the small shiny gold dog statue", "object_name": "objafantasybook_db83a97ab5ba4c7891f73ff9dea43714_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3096/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3211", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden planer with metal grooves and place it next to the translucent ergonomic spray bottle", "object_name": "objahandplaner_ff4279a607284c2a9dc4c3a271eca247_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3211/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3269", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handheld tool and place it next to the translucent blue soap bottle", "object_name": "objahandheldtool_83a542c3f56a4e4f8f8017c94d9cf054_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3269/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3319", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the arthropod and place it next to the dark glossy hardcover book with gold", "object_name": "objamoth_a28d9a3820814921929228e03b35f041_1_0_4", "data_file_path": 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up the black walkie-talkie device and place it next to the matte dark gray bowl", "object_name": "objawalkietalkie_8924c4e1bc4d4d33addb56a31fecb09a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3462/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3536", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the antique corkscrew with wooden handle and place it next to the textured mauve knitted beanie", "object_name": "objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3536/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3561", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the walkie talkie and place it next to the white hardcover programming book", "object_name": "objawalkietalkie_a480d67491c54b39ba992becac97ca5e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3561/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3561", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the motion-picture camera and place it next to the white virus model with red spikes", "object_name": "objamoviecamera_b80246878f17451184b098df7b081cb7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3561/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3647", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal spatula with slots and handle and place it next to the european dragon", "object_name": "objaspatula_80870db1713949d5a750f510a6dbce54_1_0_2", "data_file_path": 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windows and place it next to the polished gray human hand", "object_name": "objamodelbuilding_a4d581e238fd44bcbc5c47dddafc3952_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3795/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3924", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate green dragon goblet and place it next to the speaker unit", "object_name": "objadecorativegoblet_36e0c8e1fb7d4556805e0a46a80ddea7_1_0_9", "data_file_path": 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"task_description": "Pick up the black rectangular device with pin screen and place it next to the small shiny gold dog statue", "object_name": "objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4151/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4234", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular weathered wood with moss and place it next to the smooth translucent plastic cup", "object_name": "objadecorativewoodpiece_47bc008c241141a68eac85c8c997ff74_1_0_8", "data_file_path": 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"task_description": "Pick up the mechanical clock and place it next to the laptop computer", "object_name": "objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4327/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4349", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green handheld barcode scanner and place it next to the beige pillow", "object_name": "objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_3", "data_file_path": 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"Pick up the portable computer and place it next to the three red tomatoes dripping liquid", "object_name": "laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4403/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4497", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the frenchpress and place it next to the white potato", "object_name": "objafrenchpress_5d69fbab9a5c4cce946be991c0b5e830_1_0_2", "data_file_path": 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up the edge tool and place it next to the soapdispenser", "object_name": "objahandplane_4b6de15eb1a94c278ba4b40a3e59dac6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4682/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4726", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall cream candle in dark holder and place it next to the beige bone dog toy", "object_name": "candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4726/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4802", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the kokeshi doll and place it next to the thick blue hardcover programming book", "object_name": "objakokeshidoll_d3c152a1c4154f279cb590b6643e1640_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4802/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4882", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the fire department connection and place it next to the vintage black ricoh kr-5 camera", "object_name": "objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_2", "data_file_path": 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chocolate bunny and place it next to the red package", "object_name": "objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5097/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5172", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black zigzag crown with green gemstone and place it next to the green vase", "object_name": "objadecorativecrown_c5a38852c7484fb1aeeae0aea2509415_1_0_9", "data_file_path": 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"task_description": "Pick up the green and yellow sponge and place it next to the spray bottle", "object_name": "objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5388/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5464", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 132, "task_description": "Pick up the brown wooden screwdriver and place it next to the blue square plate", "object_name": "objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_6", "data_file_path": 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"task_description": "Pick up the black and red pixelated figure and place it next to the small red barn model with windows", "object_name": "objaabstractfigure_2b7ff505ad10442ea162476b4e00e408_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5618/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5672", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the turquoise decorative hourglass with beads and place it next to the yellow wooden pencil", "object_name": "objadecorativehourglass_b7df02cc3f844d2a9b39d4f215c3931d_1_0_9", "data_file_path": 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the yellow pencil with pink eraser and place it next to the white pillow", "object_name": "objapencil_a405129f76194666aace56c08219e94c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5786/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5898", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small ceramic church model with steeple and place it next to the bulbous shiny gold vase", "object_name": "objaceramicmodel_45b9548330234d4b93cae76cd2f00521_1_0_7", "data_file_path": 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up the wedge shape and place it next to the crockery", "object_name": "objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6069/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6144", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek metallic wall hook and place it next to the tin hat", "object_name": "objawallhook_f289067f678d44eb9ac1446a22d24d06_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6144/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6208", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the minimalist matte rectangular name plaque and place it next to the vintage metal box", "object_name": "objaplaque_42aafcfc945b4f8d98e5401ca29051cc_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6208/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_622", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentality and place it next to the red toy van", "object_name": "objapipecutter_9113b144802144b683d8db86f7d7388c_1_0_6", "data_file_path": 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"task_description": "Pick up the turquoise cardboard notebook and place it next to the driftwood", "object_name": "objanotebook_a8c59f42000e4d3a9f483c289fd09512_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6325/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6396", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ceramiccat and place it next to the dark teal box", "object_name": "objaceramiccat_eda025dda9404765b762d841da229c33_1_0_4", "data_file_path": 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"task_description": "Pick up the sleek black handheld vacuum with yellow and place it next to the bulbous shiny gold vase", "object_name": "objahandheldvacuumcleaner_61bd367277d2471bbe28c9ff7ef227a1_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6485/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6492", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rubber air blower and place it next to the spray paint", "object_name": "objaairblower_c1894126b3394345835758d674b7435e_2_0_4", "data_file_path": 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the white teacup with gold handle and place it next to the slim gold metallic smartphone with buttons", "object_name": "objateacup_f7306387666943a3a53852fca4a977a2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6721/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6788", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the 3d india map with flag colors and place it next to the white crocodile skull", "object_name": "objadecorativemap_5f5fa02e9e02420881536168a660c47b_1_0_8", "data_file_path": 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"task_description": "Pick up the chocolate wrapper and place it next to the golden bread", "object_name": "objapackagedfood_5ceecc4773b845a5b9addfa0f324f159_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7097/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7177", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white lint roller with black handle and place it next to the blue soap bottle with orange pump", "object_name": "objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_2", "data_file_path": 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"task_description": "Pick up the glossy smooth oval beige egg and place it next to the solanaceous vegetable", "object_name": "egg_15cf0be37a6e2484728ad7e6fc53f181_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7472/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7569", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown plastic rake with five tines and place it next to the bronze full-figured statue", "object_name": "objarake_d2c6209177484c299f7d806f5544dec6_2_0_2", "data_file_path": 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"task_description": "Pick up the light gray stone chess knight and place it next to the rectangular card with squid", "object_name": "objachesspiece_11048451bddc416eb4872caad8f0ba35_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7774/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7857", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 56, "task_description": "Pick up the black rectangular device with pin screen and place it next to the blue egg with yellow moon spots", "object_name": "objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_2", "data_file_path": 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"task_description": "Pick up the pliers and place it next to the red tractor", "object_name": "objapincers_76dfab9b43c346c781e1c0edd3afe534_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7973/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8064", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the effects unit and place it next to the open cardboard box flaps", "object_name": "objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7", "data_file_path": 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449, "task_description": "Pick up the wooden goblet and place it next to the old accordion camera", "object_name": "objagoblet_69ccd4f7ef0d40db876d4f15fc5f7b32_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8447/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue laptop and place it next to the beige mechanical component with red accents", "object_name": "laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_2", "data_file_path": 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brown blue chocolate package and place it next to the large red tomato", "object_name": "objasnackpackage_943e5e9691ef4f6fb41c851d2892d988_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_867/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8720", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small gray smooth cup and place it next to the black and white book", "object_name": "cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8720/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8805", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white electrical connector and place it next to the shiny purple quilted pillow", "object_name": "objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8805/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8881", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bulbous shiny gold metallic vase and place it next to the small oval brown potato", "object_name": "vase_d568e4c5c2948c69c05d527517276b06_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8881/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8952", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red compact handheld device with label and place it next to the smooth light ceramic bowl", "object_name": "objatool_9796cef620844a89ad045826ed1ae1d1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8952/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9022", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth yellow apple with stem and place it next to the fresh green lettuce", "object_name": "apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9022/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9087", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the miniature trafficlight with red light and place it next to the slim rectangular red phone device", "object_name": "objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9087/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9152", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic needle-nose pliers with grips and place it next to the smooth gray bowl", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9152/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9152", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red futuristic handheld device with grip and place it next to the black stylized handgun with blue accents", "object_name": "objatoygun_8a193bd9d7944b5baf2031f5fb80a7a3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9152/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9156", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the locking pliers and place it next to the soapdispenser", "object_name": "objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9156/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9234", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful flower and place it next to the oval brown potato", "object_name": "objaflowersculpture_4d3f1c2044814320af551030c3bf0e9d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9234/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9308", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden humanoid puzzle piece and place it next to the shiny gold vase", "object_name": "objapuzzlepiece_2dbbd65cb2614e8481d2b1f0760c37a8_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9308/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_939", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall white candlestick and place it next to the vintage light fabric pith helmet", "object_name": "objacandlestick_dba5865de3da40b0bc3482242a32db46_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_939/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9422", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal cat and place it next to the rustic round beige ceramic plate", "object_name": "objaceramiccat_eda025dda9404765b762d841da229c33_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9422/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9496", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the movie camera and place it next to the green floral wedding invitation", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9496/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9554", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spray paint can and place it next to the olive scalloped ceramic plate", "object_name": "objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9554/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9642", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white aerosol can with rusted top and place it next to the white tape dispenser", "object_name": "objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9642/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9719", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark vintage rectangular chocolate mold and place it next to the sleek black toaster with red sides", "object_name": "objachocolatemold_f410c9f5784d435ea17c89e2f51bc439_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9719/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9886", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the turquoise can and place it next to the brown loaf bread", "object_name": "objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9886/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9958", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved ceramic tube and place it next to the yellow apple with stem", "object_name": "objapipe_bf11f43f2d674918b4618bfbacaef123_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9958/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..8d2c434b02c6b4ab9068c30e5cea9ef16b8503f2 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/eval.log @@ -0,0 +1,3710 @@ +[2026-05-26 19:43:51,410] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,411] INFO Using MuJoCo EGL device id: 7 +[2026-05-26 19:43:51,411] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,443] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 (source=arg) +[2026-05-26 19:43:53,314] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:02,744] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,279] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,753] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,236] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [576, + 622, + 691, + 732, + 791, + 867, + 939, + 1042, + 1170, + 1234, + 1328, + 1388, + 1504, + 1634, + 1731, + 1778, + 1907, + 2021, + 2041, + 2165, + 2305, + 2384, + 2478, + 2575, + 2681, + 2805, + 2885, + 2978, + 3096, + 3211, + 3269, + 3319, + 3397, + 3462, + 3536, + 3561, + 3647, + 3746, + 3795, + 3924, + 4063, + 4151, + 4234, + 4292, + 4327, + 4349, + 4403, + 4497, + 4623, + 4682, + 4726, + 4802, + 4882, + 4974, + 5097, + 5172, + 5211, + 5388, + 5464, + 5548, + 5618, + 5672, + 5786, + 5898, + 5959, + 6069, + 6144, + 6208, + 6271, + 6325, + 6396, + 6485, + 6492, + 6591, + 6721, + 6788, + 6911, + 6981, + 7030, + 7097, + 7177, + 7301, + 7348, + 7405, + 7472, + 7569, + 7672, + 7774, + 7857, + 7973, + 8064, + 8136, + 8231, + 8303, + 8388, + 8447, + 8537, + 8643, + 8720, + 8805, + 8881, + 8952, + 9022, + 9087, + 9152, + 9156, + 9234, + 9308, + 9422, + 9496, + 9554, + 9642, + 9719, + 9886, + 9958], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,241] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 576 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place tan sandal with block heel straps next to blue torch +2026-05-26 19:48:35.201 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:36,166] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:36,817] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:37,347] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:37,546] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:37,550] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:59:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 576 episode 0 object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_5 completed with success=False +[05/26 19:59:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_576: 1 episodes +[05/26 19:59:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:59:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:59:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_576 +[05/26 19:59:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_576 in 2.44s (batch: 2.34s, save: 0.10s) +[05/26 19:59:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_576 +[05/26 19:59:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 576: 0/1 successful episodes +[05/26 19:59:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 622 (index 1/115) +[05/26 19:59:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 19:59:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place instrumentality next to red toy van +[2026-05-26 20:01:11,248] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:01:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:10:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 622 episode 0 object objapipecutter_9113b144802144b683d8db86f7d7388c_1_0_6 completed with success=False +[05/26 20:10:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_622: 1 episodes +[05/26 20:10:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:10:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:10:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_622 +[05/26 20:10:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_622 in 2.85s (batch: 2.75s, save: 0.09s) +[05/26 20:10:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_622 +[05/26 20:10:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 622: 0/1 successful episodes +[05/26 20:10:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 691 (index 2/115) +[05/26 20:10:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 691 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:10:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place flat gray metal ring next to tall white candle in holder +[2026-05-26 20:11:55,952] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:22:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 691 episode 0 object objawasher_694066aa6e0a46db95f476ad8c951951_1_0_7 completed with success=False +[05/26 20:22:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_691: 1 episodes +[05/26 20:22:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:22:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:22:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_691 +[05/26 20:22:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_691 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 20:22:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_691 +[05/26 20:22:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 691: 0/1 successful episodes +[05/26 20:22:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 732 (index 3/115) +[05/26 20:22:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 732 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:22:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place ornate finial next to colorful purple accordion with keyboard +[2026-05-26 20:24:04,036] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:24:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:36:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 732 episode 0 object objafinial_7e55982574974d22863ea0ddb370ffe5_1_0_9 completed with success=False +[05/26 20:36:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_732: 1 episodes +[05/26 20:36:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:36:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:36:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_732 +[05/26 20:36:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_732 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 20:36:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_732 +[05/26 20:36:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 732: 0/1 successful episodes +[05/26 20:36:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 791 (index 4/115) +[05/26 20:36:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 791 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:36:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 20:37:07 Worker 0 WARNING object_manager.py:1238] Could not find object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_4 in scene +[05/26 20:37:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativespike_518021839cf544f0b89865ab495c885b_1_0_4 in scene +Goal: place holographicprojector next to dark glossy hardcover book +[2026-05-26 20:38:05,378] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:38:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:52:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 791 episode 0 object objaholographicprojector_9860e2270f1245698995adce759c187f_1_0_4 completed with success=False +[05/26 20:52:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_791: 1 episodes +[05/26 20:52:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:52:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:52:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_791 +[05/26 20:52:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_791 in 2.42s (batch: 2.32s, save: 0.09s) +[05/26 20:52:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_791 +[05/26 20:52:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 791: 0/1 successful episodes +[05/26 20:52:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 867 (index 5/115) +[05/26 20:52:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 20:52:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place brown blue chocolate package next to large red tomato +[2026-05-26 20:53:58,977] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:54:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:09:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 867 episode 0 object objasnackpackage_943e5e9691ef4f6fb41c851d2892d988_1_0_8 completed with success=False +[05/26 21:09:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_867: 1 episodes +[05/26 21:09:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:09:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:09:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_867 +[05/26 21:09:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_867 in 2.41s (batch: 2.32s, save: 0.09s) +[05/26 21:09:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_867 +[05/26 21:09:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 867: 0/1 successful episodes +[05/26 21:09:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 939 (index 6/115) +[05/26 21:09:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:09:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place tall white candlestick next to vintage light fabric pith helmet +[2026-05-26 21:10:26,637] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:11:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:17:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 939 episode 0 object objacandlestick_dba5865de3da40b0bc3482242a32db46_1_0_2 completed with success=False +[05/26 21:17:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_939: 1 episodes +[05/26 21:17:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:17:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:17:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_939 +[05/26 21:17:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_939 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 21:17:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_939 +[05/26 21:17:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 939: 0/1 successful episodes +[05/26 21:17:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1042 (index 7/115) +[05/26 21:17:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1042 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:17:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place hand mirror next to glossy russian doll with flowers +[2026-05-26 21:19:04,550] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:32:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 1042 episode 0 object objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_1_0_7 completed with success=False +[05/26 21:32:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1042: 1 episodes +[05/26 21:32:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:32:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:32:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1042 +[05/26 21:32:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1042 in 2.85s (batch: 2.76s, save: 0.09s) +[05/26 21:32:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1042 +[05/26 21:32:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1042: 0/1 successful episodes +[05/26 21:32:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1170 (index 8/115) +[05/26 21:32:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1170 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:32:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place rugged green tactical mask with goggles next to glossy blue hexagonal emblem with letters +[2026-05-26 21:34:03,013] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:34:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:45:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 1170 episode 0 object objatacticalmask_2ae79f9bdbba41a0a80e4bc0f8bfe95f_1_0_5 completed with success=False +[05/26 21:46:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1170: 1 episodes +[05/26 21:46:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1170 +[05/26 21:46:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1170 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 21:46:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1170 +[05/26 21:46:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1170: 0/1 successful episodes +[05/26 21:46:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1234 (index 9/115) +[05/26 21:46:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:46:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place instrumentation next to vintage minerva stopwatch beige +[2026-05-26 21:47:07,168] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:47:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:52:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 1234 episode 0 object objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_2 completed with success=False +[05/26 21:52:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1234: 1 episodes +[05/26 21:52:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:52:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:52:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1234 +[05/26 21:52:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1234 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 21:52:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1234 +[05/26 21:52:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1234: 0/1 successful episodes +[05/26 21:52:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1328 (index 10/115) +[05/26 21:52:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1328 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 21:52:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue and silver logo plaque next to green hardcover book titled the effective engineer +[2026-05-26 21:53:42,348] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:54:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:03:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 1328 episode 0 object objalogoplaque_3debec4b2b6e4fc1b072828dbbdddac3_1_0_7 completed with success=False +[05/26 22:03:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1328: 1 episodes +[05/26 22:03:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:04:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:04:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1328 +[05/26 22:04:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1328 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 22:04:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1328 +[05/26 22:04:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1328: 0/1 successful episodes +[05/26 22:04:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1388 (index 11/115) +[05/26 22:04:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:04:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 22:04:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_5 in scene +[05/26 22:04:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +Goal: place geometric brown acorn shape next to slim blue phone device +[2026-05-26 22:05:41,303] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:06:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:23:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 1388 episode 0 object objaacorn_421068a9395b496fa86c81792c20adc8_1_0_2 completed with success=False +[05/26 22:23:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1388: 1 episodes +[05/26 22:23:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:23:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:23:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1388 +[05/26 22:23:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1388 in 2.79s (batch: 2.70s, save: 0.09s) +[05/26 22:23:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1388 +[05/26 22:23:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1388: 0/1 successful episodes +[05/26 22:23:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1504 (index 12/115) +[05/26 22:23:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:23:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/26 22:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 in scene +[05/26 22:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +Goal: place wooden mechanical clock with visible gears next to small wooden orange sailboat +[2026-05-26 22:24:18,923] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:24:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:40:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1504 episode 0 object objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_8 completed with success=False +[05/26 22:40:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1504: 1 episodes +[05/26 22:40:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:40:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:40:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1504 +[05/26 22:40:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1504 in 2.81s (batch: 2.72s, save: 0.10s) +[05/26 22:40:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1504 +[05/26 22:40:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1504: 0/1 successful episodes +[05/26 22:40:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1634 (index 13/115) +[05/26 22:40:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:40:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 22:40:23 Worker 0 WARNING object_manager.py:1238] Could not find object vase_485850bef5e28630dd1156aaec2e3528_1_0_7 in scene +Goal: place glossy green prism with dog next to translucent plastic ergonomic spray bottle +[2026-05-26 22:41:26,128] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:57:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 1634 episode 0 object objaphotoblock_4d5340816228455a944a36753b977425_1_0_2 completed with success=False +[05/26 22:57:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1634: 1 episodes +[05/26 22:57:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:58:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:58:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1634 +[05/26 22:58:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1634 in 2.51s (batch: 2.41s, save: 0.09s) +[05/26 22:58:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1634 +[05/26 22:58:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1634: 0/1 successful episodes +[05/26 22:58:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1731 (index 14/115) +[05/26 22:58:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1731 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 22:58:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/26 22:58:16 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_58a2d909109c9f3ccdc7e7da4e8d0d5c_1_0_2 in scene +Goal: place realistic human hand next to shallow blue-gray metal frying pan +[2026-05-26 22:59:20,291] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:59:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:04:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 1731 episode 0 object objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_2 completed with success=False +[05/26 23:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1731: 1 episodes +[05/26 23:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:04:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:04:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1731 +[05/26 23:04:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1731 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 23:04:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1731 +[05/26 23:04:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1731: 0/1 successful episodes +[05/26 23:04:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1778 (index 15/115) +[05/26 23:04:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1778 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:04:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +Goal: place medium dark metal pot next to nutrient +[2026-05-26 23:06:23,097] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:06:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:08:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1778 episode 0 object pot_3f96121c2844b96ea193d53feeb1602e_1_0_2 completed with success=False +[05/26 23:08:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1778: 1 episodes +[05/26 23:08:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:08:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:08:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1778 +[05/26 23:08:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1778 in 2.68s (batch: 2.60s, save: 0.09s) +[05/26 23:08:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1778 +[05/26 23:08:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1778: 0/1 successful episodes +[05/26 23:08:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1907 (index 16/115) +[05/26 23:08:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:08:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place detailed crucifix with figure next to laptop +[2026-05-26 23:09:31,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:26:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 1907 episode 0 object objacrucifix_66cef9006e22443089458c6c5d990855_1_0_6 completed with success=False +[05/26 23:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1907: 1 episodes +[05/26 23:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:27:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:27:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1907 +[05/26 23:27:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1907 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 23:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1907 +[05/26 23:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1907: 0/1 successful episodes +[05/26 23:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2021 (index 17/115) +[05/26 23:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2021 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place tissue paper next to round orange pumpkin with curved stem +[2026-05-26 23:28:10,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:28:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:41:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 2021 episode 0 object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 completed with success=False +[05/26 23:41:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2021: 1 episodes +[05/26 23:41:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:41:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:41:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2021 +[05/26 23:41:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2021 in 2.68s (batch: 2.59s, save: 0.09s) +[05/26 23:41:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2021 +[05/26 23:41:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2021: 0/1 successful episodes +[05/26 23:41:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2041 (index 18/115) +[05/26 23:41:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:41:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place vintage wooden corkscrew with lever next to gray moon +[2026-05-26 23:42:38,006] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:43:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:54:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 2041 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4 completed with success=False +[05/26 23:54:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2041: 1 episodes +[05/26 23:54:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:54:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:54:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2041 +[05/26 23:54:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2041 in 2.37s (batch: 2.28s, save: 0.09s) +[05/26 23:54:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2041 +[05/26 23:54:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2041: 0/1 successful episodes +[05/26 23:54:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2165 (index 19/115) +[05/26 23:54:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/26 23:54:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 23:57:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_6 in scene +Goal: place yellow device with antenna and eye symbol next to medium brown cardboard box open +[2026-05-26 23:58:53,767] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:59:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:13:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 2165 episode 0 object objadecorativedevice_c866460d8cbc436b80b31c7eefb6d2d1_1_0_3 completed with success=False +[05/27 00:13:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2165: 1 episodes +[05/27 00:13:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:13:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:13:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2165 +[05/27 00:13:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2165 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 00:13:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2165 +[05/27 00:13:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2165: 0/1 successful episodes +[05/27 00:13:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2305 (index 20/115) +[05/27 00:13:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2305 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:13:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place golden knight chess piece on base next to glossy black dog +[2026-05-27 00:18:02,423] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:35:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2305 episode 0 object objachesspiece_3e28ace90e6f43efaf5e4a19e8bd9cad_1_0_3 completed with success=False +[05/27 00:35:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2305: 1 episodes +[05/27 00:35:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:35:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:35:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2305 +[05/27 00:35:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2305 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 00:35:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2305 +[05/27 00:35:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2305: 0/1 successful episodes +[05/27 00:35:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2384 (index 21/115) +[05/27 00:35:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:35:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place colorful rubik's cube next to realistic human hand +[2026-05-27 00:36:53,702] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:37:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:44:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 2384 episode 0 object objapuzzletoy_ff1c335452a24bdbb6e09d3443288085_1_0_2 completed with success=False +[05/27 00:44:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2384: 1 episodes +[05/27 00:44:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:44:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:44:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2384 +[05/27 00:44:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2384 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 00:44:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2384 +[05/27 00:44:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2384: 0/1 successful episodes +[05/27 00:44:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2478 (index 22/115) +[05/27 00:44:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:44:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object objagluebottle_8f91c8457fec4204a76dad9b5fd9d0df_1_0_6 in scene +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac6a1b74f35572c9a1a82922f273449a_1_0_6 in scene +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_7 in scene +[05/27 00:44:23 Worker 0 WARNING object_manager.py:1238] Could not find object plate_99ade04d632d7c28dd28877c7fb44406_1_0_7 in scene +Goal: place heavy-duty metal shackle next to gray pyramid die with turquoise numbers +[2026-05-27 00:45:30,340] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:46:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:54:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 2478 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False +[05/27 00:54:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2478: 1 episodes +[05/27 00:54:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:54:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:54:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2478 +[05/27 00:54:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2478 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 00:54:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2478 +[05/27 00:54:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2478: 0/1 successful episodes +[05/27 00:54:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2575 (index 23/115) +[05/27 00:54:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2575 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 00:54:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_2_0_5 in scene +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_9 in scene +[05/27 00:55:59 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 in scene +Goal: place green grenade with metal lever and base next to gray rectangular ethernet transceiver +[2026-05-27 00:57:02,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:16:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 2575 episode 0 object objareplica_3a16fc6248a24c6787de8c5ffe4357a5_1_0_4 completed with success=False +[05/27 01:16:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2575: 1 episodes +[05/27 01:16:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:16:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2575 +[05/27 01:16:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2575 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 01:16:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2575 +[05/27 01:16:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2575: 0/1 successful episodes +[05/27 01:16:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2681 (index 24/115) +[05/27 01:16:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2681 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 01:16:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 01:17:05 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 01:17:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +Goal: place knurled metal cylinder silencer next to blue soap bottle +[2026-05-27 01:18:08,191] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:18:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:30:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 2681 episode 0 object objasilencer_2697ccda6f8842828f833a7292cb68d9_1_0_8 completed with success=False +[05/27 01:30:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2681: 1 episodes +[05/27 01:30:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:30:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:30:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2681 +[05/27 01:30:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2681 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 01:30:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2681 +[05/27 01:30:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2681: 0/1 successful episodes +[05/27 01:30:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2805 (index 25/115) +[05/27 01:30:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2805 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 01:30:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place sleek black immersion blender next to yellow fountain pen with gold nib +[2026-05-27 01:31:56,618] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:32:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:42:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 2805 episode 0 object objaimmersionblender_b44195533bc947af86f7e0eb9f0fdbce_1_0_6 completed with success=False +[05/27 01:42:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2805: 1 episodes +[05/27 01:42:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:42:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:42:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2805 +[05/27 01:42:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2805 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 01:42:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2805 +[05/27 01:42:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2805: 0/1 successful episodes +[05/27 01:42:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2885 (index 26/115) +[05/27 01:42:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 01:42:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +Goal: place rectangular dark insulation panel next to slim phone +[2026-05-27 01:43:55,127] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:04:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 2885 episode 0 object objainsulationpanel_a06ecf98780b49ad891a166141119739_1_0_4 completed with success=False +[05/27 02:04:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2885: 1 episodes +[05/27 02:04:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:04:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:04:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2885 +[05/27 02:04:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2885 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 02:04:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2885 +[05/27 02:04:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2885: 0/1 successful episodes +[05/27 02:04:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2978 (index 27/115) +[05/27 02:04:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:04:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place glossy yellow vase next to dark gray coral with branches +[2026-05-27 02:05:22,897] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:05:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:14:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2978 episode 0 object vase_cb3703664cbf21eb7b79c941e5ea5d5b_1_0_7 completed with success=False +[05/27 02:14:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2978: 1 episodes +[05/27 02:14:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:14:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:14:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2978 +[05/27 02:14:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2978 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 02:14:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2978 +[05/27 02:14:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2978: 0/1 successful episodes +[05/27 02:14:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3096 (index 28/115) +[05/27 02:14:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3096 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:14:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place reddish leather book with teeth next to small shiny gold dog statue +[2026-05-27 02:15:56,219] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:23:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3096 episode 0 object objafantasybook_db83a97ab5ba4c7891f73ff9dea43714_1_0_3 completed with success=False +[05/27 02:23:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3096: 1 episodes +[05/27 02:23:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:23:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:23:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3096 +[05/27 02:23:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3096 in 2.46s (batch: 2.36s, save: 0.10s) +[05/27 02:23:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3096 +[05/27 02:23:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3096: 0/1 successful episodes +[05/27 02:23:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3211 (index 29/115) +[05/27 02:23:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:23:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place vintage wooden planer with metal grooves next to translucent ergonomic spray bottle +[2026-05-27 02:24:53,014] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:25:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:32:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3211 episode 0 object objahandplaner_ff4279a607284c2a9dc4c3a271eca247_1_0_2 completed with success=False +[05/27 02:32:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3211: 1 episodes +[05/27 02:32:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:32:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:32:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3211 +[05/27 02:32:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3211 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 02:32:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3211 +[05/27 02:32:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3211: 0/1 successful episodes +[05/27 02:32:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3269 (index 30/115) +[05/27 02:32:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3269 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:32:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place handheld tool next to translucent blue soap bottle +[2026-05-27 02:34:01,589] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:34:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:51:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 3269 episode 0 object objahandheldtool_83a542c3f56a4e4f8f8017c94d9cf054_1_0_2 completed with success=False +[05/27 02:51:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3269: 1 episodes +[05/27 02:51:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:51:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:51:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3269 +[05/27 02:51:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3269 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 02:51:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3269 +[05/27 02:51:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3269: 0/1 successful episodes +[05/27 02:51:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3319 (index 31/115) +[05/27 02:51:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 02:51:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place arthropod next to dark glossy hardcover book with gold +[2026-05-27 02:53:00,732] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:53:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:07:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 3319 episode 0 object objamoth_a28d9a3820814921929228e03b35f041_1_0_4 completed with success=False +[05/27 03:07:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3319: 1 episodes +[05/27 03:07:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:07:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:07:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3319 +[05/27 03:07:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3319 in 2.46s (batch: 2.36s, save: 0.09s) +[05/27 03:07:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3319 +[05/27 03:07:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3319: 0/1 successful episodes +[05/27 03:07:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3397 (index 32/115) +[05/27 03:07:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3397 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:07:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_2_0_5 in scene +[05/27 03:07:25 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place dark brown ocarina with spiral tail next to dark laptop +[2026-05-27 03:08:28,111] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:09:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:18:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 3397 episode 0 object objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_7 completed with success=False +[05/27 03:18:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3397: 1 episodes +[05/27 03:18:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:18:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:18:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3397 +[05/27 03:18:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3397 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 03:18:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3397 +[05/27 03:18:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3397: 0/1 successful episodes +[05/27 03:18:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3462 (index 33/115) +[05/27 03:18:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3462 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:18:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 03:18:43 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 in scene +[05/27 03:18:43 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_2_0_3 in scene +Goal: place black walkie-talkie device next to matte dark gray bowl +[2026-05-27 03:19:46,246] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:20:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:31:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3462 episode 0 object objawalkietalkie_8924c4e1bc4d4d33addb56a31fecb09a_1_0_6 completed with success=False +[05/27 03:32:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3462: 1 episodes +[05/27 03:32:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:32:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:32:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3462 +[05/27 03:32:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3462 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 03:32:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3462 +[05/27 03:32:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3462: 0/1 successful episodes +[05/27 03:32:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3536 (index 34/115) +[05/27 03:32:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:32:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +Goal: place antique corkscrew with wooden handle next to textured mauve knitted beanie +[2026-05-27 03:33:28,658] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:51:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3536 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4 completed with success=False +[05/27 03:51:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3536: 1 episodes +[05/27 03:51:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:51:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:51:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3536 +[05/27 03:51:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3536 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 03:51:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3536 +[05/27 03:51:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3536: 0/1 successful episodes +[05/27 03:51:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3561 (index 35/115) +[05/27 03:51:39 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 03:51:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place walkie talkie next to white hardcover programming book +[2026-05-27 03:52:50,601] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:53:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:04:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3561 episode 0 object objawalkietalkie_a480d67491c54b39ba992becac97ca5e_1_0_4 completed with success=False +[05/27 04:04:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place motion-picture camera next to white virus model with red spikes +[2026-05-27 04:05:53,342] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:17:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 3561 episode 1 object objamoviecamera_b80246878f17451184b098df7b081cb7_1_0_6 completed with success=False +[05/27 04:17:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3561: 2 episodes +[05/27 04:17:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:17:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:17:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:17:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:17:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3561 +[05/27 04:17:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3561 in 4.94s (batch: 4.77s, save: 0.17s) +[05/27 04:17:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3561 +[05/27 04:17:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3561: 0/2 successful episodes +[05/27 04:17:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3647 (index 36/115) +[05/27 04:17:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3647 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:17:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 04:17:47 Worker 0 WARNING object_manager.py:1238] Could not find object objabread_3781314af1954867a5eb2bca6c18a955_1_0_2 in scene +[05/27 04:17:47 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene +[05/27 04:17:47 Worker 0 WARNING object_manager.py:1238] Could not find object objareligiousicon_eb6f9f0bf68943a2b5d85ce40fe2c6f9_1_0_3 in scene +Goal: place metal spatula with slots and handle next to european dragon +[2026-05-27 04:18:51,512] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:19:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:37:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 3647 episode 0 object objaspatula_80870db1713949d5a750f510a6dbce54_1_0_2 completed with success=False +[05/27 04:37:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3647: 1 episodes +[05/27 04:37:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:37:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:37:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3647 +[05/27 04:37:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3647 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 04:37:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3647 +[05/27 04:37:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3647: 0/1 successful episodes +[05/27 04:37:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3746 (index 37/115) +[05/27 04:37:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3746 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:37:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place eggs next to cookware +[2026-05-27 04:39:03,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:39:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:40:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3746 episode 0 object egg_458c762f78242a821082a457af28fe5c_1_0_2 completed with success=False +[05/27 04:40:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3746: 1 episodes +[05/27 04:40:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:40:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:40:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3746 +[05/27 04:40:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3746 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 04:40:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3746 +[05/27 04:40:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3746: 0/1 successful episodes +[05/27 04:40:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3795 (index 38/115) +[05/27 04:40:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:40:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place tall tower with red roof and windows next to polished gray human hand +[2026-05-27 04:41:59,603] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:42:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:48:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 3795 episode 0 object objamodelbuilding_a4d581e238fd44bcbc5c47dddafc3952_1_0_3 completed with success=False +[05/27 04:48:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3795: 1 episodes +[05/27 04:48:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:48:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:48:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3795 +[05/27 04:48:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3795 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 04:48:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3795 +[05/27 04:48:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3795: 0/1 successful episodes +[05/27 04:48:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3924 (index 39/115) +[05/27 04:48:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3924 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 04:48:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place intricate green dragon goblet next to speaker unit +[2026-05-27 04:50:03,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:50:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:02:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 3924 episode 0 object objadecorativegoblet_36e0c8e1fb7d4556805e0a46a80ddea7_1_0_9 completed with success=False +[05/27 05:02:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3924: 1 episodes +[05/27 05:02:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:02:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:02:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3924 +[05/27 05:02:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3924 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 05:02:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3924 +[05/27 05:02:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3924: 0/1 successful episodes +[05/27 05:02:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4063 (index 40/115) +[05/27 05:02:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4063 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:02:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place black metal scope mount with knob next to thick blue hardcover book with pages +[2026-05-27 05:03:44,259] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:10:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4063 episode 0 object objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_3 completed with success=False +[05/27 05:10:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4063: 1 episodes +[05/27 05:10:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:10:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:10:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4063 +[05/27 05:10:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4063 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 05:10:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4063 +[05/27 05:10:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4063: 0/1 successful episodes +[05/27 05:10:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4151 (index 41/115) +[05/27 05:10:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4151 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:10:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/27 05:10:50 Worker 0 WARNING object_manager.py:1238] Could not find object objaruggedtablet_7d98faec09a24d07aed03df9b648c7a9_1_0_2 in scene +Goal: place black rectangular device with pin screen next to small shiny gold dog statue +[2026-05-27 05:11:53,685] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:22:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 4151 episode 0 object objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_7 completed with success=False +[05/27 05:22:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4151: 1 episodes +[05/27 05:22:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:22:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:22:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4151 +[05/27 05:22:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4151 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 05:22:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4151 +[05/27 05:22:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4151: 0/1 successful episodes +[05/27 05:22:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4234 (index 42/115) +[05/27 05:22:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:22:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place rectangular weathered wood with moss next to smooth translucent plastic cup +[2026-05-27 05:23:33,424] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:39:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4234 episode 0 object objadecorativewoodpiece_47bc008c241141a68eac85c8c997ff74_1_0_8 completed with success=False +[05/27 05:39:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4234: 1 episodes +[05/27 05:39:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:39:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:39:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4234 +[05/27 05:39:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4234 in 2.50s (batch: 2.40s, save: 0.09s) +[05/27 05:39:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4234 +[05/27 05:39:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4234: 0/1 successful episodes +[05/27 05:39:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4292 (index 43/115) +[05/27 05:39:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:39:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place spinning top next to burnt parchment with spiral engravings +[2026-05-27 05:40:45,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:41:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:55:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4292 episode 0 object objaspinningtop_8ad13f2440be46aeafeae71875ec2820_1_0_6 completed with success=False +[05/27 05:55:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4292: 1 episodes +[05/27 05:55:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:56:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:56:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4292 +[05/27 05:56:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4292 in 2.85s (batch: 2.75s, save: 0.10s) +[05/27 05:56:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4292 +[05/27 05:56:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4292: 0/1 successful episodes +[05/27 05:56:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4327 (index 44/115) +[05/27 05:56:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 05:56:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 05:56:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_f4035bcaf9094e34afb664c872233c1c_1_0_9 in scene +Goal: place mechanical clock next to laptop computer +[2026-05-27 05:57:10,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:57:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:11:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4327 episode 0 object objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_6 completed with success=False +[05/27 06:11:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4327: 1 episodes +[05/27 06:11:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:11:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:11:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4327 +[05/27 06:11:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4327 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 06:11:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4327 +[05/27 06:11:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4327: 0/1 successful episodes +[05/27 06:11:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4349 (index 45/115) +[05/27 06:11:13 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4349 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 06:11:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 06:11:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place dark green handheld barcode scanner next to beige pillow +[2026-05-27 06:12:31,402] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:13:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:29:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4349 episode 0 object objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_3 completed with success=False +[05/27 06:29:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 06:29:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place angled lever with stone base next to square dark compact laptop +[2026-05-27 06:30:41,052] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:47:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4349 episode 1 object objalever_5d821ac7148240c092c4face44c1d096_1_0_6 completed with success=False +[05/27 06:47:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4349: 2 episodes +[05/27 06:47:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:47:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:47:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:47:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:47:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4349 +[05/27 06:47:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4349 in 5.47s (batch: 5.30s, save: 0.17s) +[05/27 06:47:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4349 +[05/27 06:47:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4349: 0/2 successful episodes +[05/27 06:47:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4403 (index 46/115) +[05/27 06:47:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 06:47:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 +[05/27 06:48:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 06:48:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 06:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 06:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 06:48:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 06:48:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the portable computer and place it next to the three red tomatoes dripping liquid' +[05/27 06:48:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 4403 episode 0/1 collected=0/2 +[05/27 06:48:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/27 06:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene +Goal: place portable computer next to three red tomatoes dripping liquid +[2026-05-27 06:49:08,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:06:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4403 episode 0 object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_7 completed with success=False +[05/27 07:06:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4403: 1 episodes +[05/27 07:06:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:06:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:06:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4403 +[05/27 07:06:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4403 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 07:06:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4403 +[05/27 07:06:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4403: 0/1 successful episodes +[05/27 07:06:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4497 (index 47/115) +[05/27 07:06:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4497 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:06:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place frenchpress next to white potato +[2026-05-27 07:07:43,124] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:08:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:13:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 4497 episode 0 object objafrenchpress_5d69fbab9a5c4cce946be991c0b5e830_1_0_2 completed with success=False +[05/27 07:13:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4497: 1 episodes +[05/27 07:13:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:13:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:13:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4497 +[05/27 07:13:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4497 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 07:13:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4497 +[05/27 07:13:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4497: 0/1 successful episodes +[05/27 07:13:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4623 (index 48/115) +[05/27 07:13:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:13:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place rustic ceramic lid next to clear glass martini cup +[2026-05-27 07:14:54,482] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:35:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4623 episode 0 object objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_2 completed with success=False +[05/27 07:35:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4623: 1 episodes +[05/27 07:35:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:35:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:35:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4623 +[05/27 07:35:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4623 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 07:35:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4623 +[05/27 07:35:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4623: 0/1 successful episodes +[05/27 07:35:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4682 (index 49/115) +[05/27 07:35:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:35:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place edge tool next to soapdispenser +[2026-05-27 07:36:18,061] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:36:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:48:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4682 episode 0 object objahandplane_4b6de15eb1a94c278ba4b40a3e59dac6_1_0_8 completed with success=False +[05/27 07:48:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4682: 1 episodes +[05/27 07:48:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:48:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:48:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4682 +[05/27 07:48:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4682 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 07:48:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4682 +[05/27 07:48:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4682: 0/1 successful episodes +[05/27 07:48:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4726 (index 50/115) +[05/27 07:48:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4726 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:48:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place tall cream candle in dark holder next to beige bone dog toy +[2026-05-27 07:49:54,304] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:50:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:57:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 4726 episode 0 object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_3 completed with success=False +[05/27 07:57:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4726: 1 episodes +[05/27 07:57:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:57:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:57:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4726 +[05/27 07:57:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4726 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 07:57:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4726 +[05/27 07:57:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4726: 0/1 successful episodes +[05/27 07:57:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4802 (index 51/115) +[05/27 07:57:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 07:57:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place kokeshi doll next to thick blue hardcover programming book +[2026-05-27 07:58:25,923] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:08:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4802 episode 0 object objakokeshidoll_d3c152a1c4154f279cb590b6643e1640_1_0_7 completed with success=False +[05/27 08:08:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4802: 1 episodes +[05/27 08:08:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:08:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:08:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4802 +[05/27 08:08:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4802 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 08:08:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4802 +[05/27 08:08:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4802: 0/1 successful episodes +[05/27 08:08:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4882 (index 52/115) +[05/27 08:08:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4882 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:08:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place fire department connection next to vintage black ricoh kr-5 camera +[2026-05-27 08:10:01,059] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:10:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:16:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4882 episode 0 object objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_2 completed with success=False +[05/27 08:16:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4882: 1 episodes +[05/27 08:16:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:16:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:16:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4882 +[05/27 08:16:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4882 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 08:16:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4882 +[05/27 08:16:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4882: 0/1 successful episodes +[05/27 08:16:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4974 (index 53/115) +[05/27 08:16:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4974 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:16:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 08:16:21 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeribbon_3be787e16e6a4f5fb8f4830d0b2cb03b_2_0_5 in scene +[05/27 08:16:21 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_2_0_5 in scene +Goal: place arthropod next to simple light brown ceramic bowl +[2026-05-27 08:17:25,411] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:31:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4974 episode 0 object objamoth_a28d9a3820814921929228e03b35f041_1_0_4 completed with success=False +[05/27 08:31:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4974: 1 episodes +[05/27 08:31:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:31:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:31:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4974 +[05/27 08:31:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4974 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 08:31:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4974 +[05/27 08:31:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4974: 0/1 successful episodes +[05/27 08:31:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5097 (index 54/115) +[05/27 08:31:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:31:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place chocolate bunny next to red package +[2026-05-27 08:32:14,953] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:32:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:38:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5097 episode 0 object objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_2 completed with success=False +[05/27 08:38:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5097: 1 episodes +[05/27 08:38:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5097 +[05/27 08:38:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5097 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 08:38:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5097 +[05/27 08:38:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5097: 0/1 successful episodes +[05/27 08:38:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5172 (index 55/115) +[05/27 08:38:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5172 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:38:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 08:38:31 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene +Goal: place black zigzag crown with green gemstone next to green vase +[2026-05-27 08:39:34,025] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:40:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:51:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5172 episode 0 object objadecorativecrown_c5a38852c7484fb1aeeae0aea2509415_1_0_9 completed with success=False +[05/27 08:51:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5172: 1 episodes +[05/27 08:51:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:51:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:51:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5172 +[05/27 08:51:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5172 in 2.64s (batch: 2.55s, save: 0.09s) +[05/27 08:51:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5172 +[05/27 08:51:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5172: 0/1 successful episodes +[05/27 08:51:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5211 (index 56/115) +[05/27 08:51:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 08:51:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place glossy deep red arrow sign next to clear tapered plastic cup +[2026-05-27 08:52:52,065] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:03:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 5211 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_2 completed with success=False +[05/27 09:03:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5211: 1 episodes +[05/27 09:03:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:03:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:03:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5211 +[05/27 09:03:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5211 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 09:03:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5211 +[05/27 09:03:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5211: 0/1 successful episodes +[05/27 09:03:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5388 (index 57/115) +[05/27 09:03:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:03:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +Goal: place green and yellow sponge next to spray bottle +[2026-05-27 09:05:38,022] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:25:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5388 episode 0 object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_9 completed with success=False +[05/27 09:26:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5388: 1 episodes +[05/27 09:26:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:26:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:26:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5388 +[05/27 09:26:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5388 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 09:26:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5388 +[05/27 09:26:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5388: 0/1 successful episodes +[05/27 09:26:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5464 (index 58/115) +[05/27 09:26:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5464 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:26:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 09:26:20 Worker 0 WARNING object_manager.py:1238] Could not find object objalemon_ab2625342f2c43fe8a383f8f9b4917ab_1_0_6 in scene +[05/27 09:26:20 Worker 0 WARNING object_manager.py:1238] Could not find object statue_82f73072d5461ff460bb390c3adf02fa_1_0_7 in scene +Goal: place brown wooden screwdriver next to blue square plate +[2026-05-27 09:27:24,671] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:27:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:30:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5464 episode 0 object objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_6 completed with success=True +[05/27 09:30:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5464: 1 episodes +[05/27 09:30:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 134 timesteps +[05/27 09:30:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:30:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5464 +[05/27 09:30:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5464 in 2.51s (batch: 2.46s, save: 0.04s) +[05/27 09:30:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5464 +[05/27 09:30:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5464: 1/1 successful episodes +[05/27 09:30:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5548 (index 59/115) +[05/27 09:30:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5548 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:30:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place square brown disposable container with chopsticks next to natural covering +[2026-05-27 09:33:29,640] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:42:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5548 episode 0 object objafoodcontainer_2b8f5805bb0146158ede9d2b4d9d98ec_1_0_6 completed with success=False +[05/27 09:42:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5548: 1 episodes +[05/27 09:42:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:42:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:42:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5548 +[05/27 09:42:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5548 in 2.35s (batch: 2.26s, save: 0.09s) +[05/27 09:42:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5548 +[05/27 09:42:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5548: 0/1 successful episodes +[05/27 09:42:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5618 (index 60/115) +[05/27 09:42:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5618 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:42:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 09:42:50 Worker 0 WARNING object_manager.py:1238] Could not find object objahammer_3812462cf5424282a7256bb76365dd68_1_0_6 in scene +[05/27 09:42:50 Worker 0 WARNING object_manager.py:1238] Could not find object vase_e3478e74916159222cb33c5c329dc2b8_1_0_6 in scene +Goal: place black and red pixelated figure next to small red barn model with windows +[2026-05-27 09:43:54,057] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:53:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5618 episode 0 object objaabstractfigure_2b7ff505ad10442ea162476b4e00e408_1_0_7 completed with success=False +[05/27 09:53:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5618: 1 episodes +[05/27 09:53:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:53:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:53:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5618 +[05/27 09:53:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5618 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 09:53:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5618 +[05/27 09:53:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5618: 0/1 successful episodes +[05/27 09:53:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5672 (index 61/115) +[05/27 09:53:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 09:53:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place turquoise decorative hourglass with beads next to yellow wooden pencil +[2026-05-27 09:55:02,362] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:55:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:09:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5672 episode 0 object objadecorativehourglass_b7df02cc3f844d2a9b39d4f215c3931d_1_0_9 completed with success=False +[05/27 10:09:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5672: 1 episodes +[05/27 10:09:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:09:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:09:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5672 +[05/27 10:09:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5672 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 10:09:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5672 +[05/27 10:09:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5672: 0/1 successful episodes +[05/27 10:09:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5786 (index 62/115) +[05/27 10:09:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5786 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:09:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place yellow pencil with pink eraser next to white pillow +[2026-05-27 10:11:35,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:12:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:24:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 5786 episode 0 object objapencil_a405129f76194666aace56c08219e94c_1_0_9 completed with success=False +[05/27 10:24:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5786: 1 episodes +[05/27 10:24:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:24:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:24:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5786 +[05/27 10:24:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5786 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 10:24:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5786 +[05/27 10:24:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5786: 0/1 successful episodes +[05/27 10:24:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5898 (index 63/115) +[05/27 10:24:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5898 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:24:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 10:24:55 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 10:24:55 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_539c979c75b34576b75f3383e96eadb5_1_0_5 in scene +Goal: place small ceramic church model with steeple next to bulbous shiny gold vase +[2026-05-27 10:25:58,382] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:26:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:36:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5898 episode 0 object objaceramicmodel_45b9548330234d4b93cae76cd2f00521_1_0_7 completed with success=False +[05/27 10:36:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5898: 1 episodes +[05/27 10:36:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:37:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:37:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5898 +[05/27 10:37:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5898 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 10:37:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5898 +[05/27 10:37:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5898: 0/1 successful episodes +[05/27 10:37:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5959 (index 64/115) +[05/27 10:37:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5959 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:37:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place dark metal medieval torch next to spray bottle +[2026-05-27 10:38:12,625] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:38:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:40:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5959 episode 0 object objadecorativetorch_fc829f78d01c451a8f3c808099691225_1_0_5 completed with success=False +[05/27 10:40:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5959: 1 episodes +[05/27 10:40:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:40:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:40:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5959 +[05/27 10:40:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5959 in 2.46s (batch: 2.36s, save: 0.10s) +[05/27 10:40:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5959 +[05/27 10:40:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5959: 0/1 successful episodes +[05/27 10:40:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6069 (index 65/115) +[05/27 10:40:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:40:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_7 in scene +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_8 in scene +[05/27 10:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_8 in scene +Goal: place wedge shape next to crockery +[2026-05-27 10:41:38,389] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:56:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 6069 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_2_0_8 completed with success=False +[05/27 10:56:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6069: 1 episodes +[05/27 10:56:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:56:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:56:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6069 +[05/27 10:56:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6069 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 10:56:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6069 +[05/27 10:56:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6069: 0/1 successful episodes +[05/27 10:56:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6144 (index 66/115) +[05/27 10:56:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 10:56:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place sleek metallic wall hook next to tin hat +[2026-05-27 10:57:24,850] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:58:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:06:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 6144 episode 0 object objawallhook_f289067f678d44eb9ac1446a22d24d06_1_0_6 completed with success=False +[05/27 11:06:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6144: 1 episodes +[05/27 11:06:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:06:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:06:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6144 +[05/27 11:06:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6144 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 11:06:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6144 +[05/27 11:06:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6144: 0/1 successful episodes +[05/27 11:06:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6208 (index 67/115) +[05/27 11:06:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:06:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 11:06:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene +[05/27 11:06:32 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene +[05/27 11:06:32 Worker 0 WARNING object_manager.py:1238] Could not find object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_7 in scene +Goal: place minimalist matte rectangular name plaque next to vintage metal box +[2026-05-27 11:07:34,619] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:08:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:21:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 6208 episode 0 object objaplaque_42aafcfc945b4f8d98e5401ca29051cc_1_0_9 completed with success=False +[05/27 11:21:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6208: 1 episodes +[05/27 11:21:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:21:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:21:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6208 +[05/27 11:21:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6208 in 2.63s (batch: 2.55s, save: 0.09s) +[05/27 11:21:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6208 +[05/27 11:21:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6208: 0/1 successful episodes +[05/27 11:21:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6271 (index 68/115) +[05/27 11:21:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6271 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:21:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place vintage gray camcorder with handle next to blue hardcover book +[2026-05-27 11:22:42,800] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:42:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 6271 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_4 completed with success=False +[05/27 11:42:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6271: 1 episodes +[05/27 11:42:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:42:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:42:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6271 +[05/27 11:42:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6271 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 11:42:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6271 +[05/27 11:42:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6271: 0/1 successful episodes +[05/27 11:42:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6325 (index 69/115) +[05/27 11:42:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6325 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:42:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 11:42:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_9 in scene +Goal: place turquoise cardboard notebook next to driftwood +[2026-05-27 11:43:48,870] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:44:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:54:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 6325 episode 0 object objanotebook_a8c59f42000e4d3a9f483c289fd09512_1_0_8 completed with success=False +[05/27 11:54:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6325: 1 episodes +[05/27 11:54:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:54:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:54:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6325 +[05/27 11:54:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6325 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 11:54:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6325 +[05/27 11:54:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6325: 0/1 successful episodes +[05/27 11:54:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6396 (index 70/115) +[05/27 11:54:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 11:54:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 11:54:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place ceramiccat next to dark teal box +[2026-05-27 11:56:00,713] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:56:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:12:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 6396 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_4 completed with success=False +[05/27 12:12:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6396: 1 episodes +[05/27 12:12:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:12:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:12:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6396 +[05/27 12:12:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6396 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 12:12:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6396 +[05/27 12:12:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6396: 0/1 successful episodes +[05/27 12:12:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6485 (index 71/115) +[05/27 12:12:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6485 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 12:12:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place holding device next to bulbous shiny gold metallic vase +[2026-05-27 12:14:17,850] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:14:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:29:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 6485 episode 0 object objahandhelddevice_fd9fdf81ab624a66897bbd8ac299e26f_1_0_4 completed with success=False +[05/27 12:29:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place sleek black handheld vacuum with yellow next to bulbous shiny gold vase +[2026-05-27 12:30:15,577] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:30:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:44:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 6485 episode 1 object objahandheldvacuumcleaner_61bd367277d2471bbe28c9ff7ef227a1_1_0_4 completed with success=False +[05/27 12:44:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6485: 2 episodes +[05/27 12:44:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:44:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:45:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:45:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:45:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6485 +[05/27 12:45:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6485 in 5.64s (batch: 5.41s, save: 0.23s) +[05/27 12:45:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6485 +[05/27 12:45:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6485: 0/2 successful episodes +[05/27 12:45:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6492 (index 72/115) +[05/27 12:45:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 12:45:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 12:45:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternaldvddrive_d9b63231980e4719aca47048767062af_1_0_5 in scene +[05/27 12:45:06 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene +Goal: place black rubber air blower next to spray paint +[2026-05-27 12:46:08,348] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:58:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 6492 episode 0 object objaairblower_c1894126b3394345835758d674b7435e_2_0_4 completed with success=False +[05/27 12:58:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6492: 1 episodes +[05/27 12:58:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:58:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:58:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6492 +[05/27 12:58:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6492 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 12:58:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6492 +[05/27 12:58:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6492: 0/1 successful episodes +[05/27 12:58:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6591 (index 73/115) +[05/27 12:58:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 12:58:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 12:59:04 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene +Goal: place fiber cleaver next to slim blue phone device +[2026-05-27 13:00:07,007] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:18:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6591 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_8 completed with success=False +[05/27 13:18:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6591: 1 episodes +[05/27 13:18:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:18:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:18:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6591 +[05/27 13:18:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6591 in 2.56s (batch: 2.46s, save: 0.10s) +[05/27 13:18:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6591 +[05/27 13:18:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6591: 0/1 successful episodes +[05/27 13:18:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6721 (index 74/115) +[05/27 13:18:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 13:18:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place white teacup with gold handle next to slim gold metallic smartphone with buttons +[2026-05-27 13:20:03,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:35:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 6721 episode 0 object objateacup_f7306387666943a3a53852fca4a977a2_1_0_6 completed with success=False +[05/27 13:35:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6721: 1 episodes +[05/27 13:35:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:35:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:35:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6721 +[05/27 13:35:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6721 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 13:35:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6721 +[05/27 13:35:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6721: 0/1 successful episodes +[05/27 13:35:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6788 (index 75/115) +[05/27 13:35:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 13:35:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 13:35:26 Worker 0 WARNING object_manager.py:1238] Could not find object objacap_4fb9681973e841209810c607560dede6_1_0_6 in scene +[05/27 13:35:26 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_2_0_9 in scene +Goal: place 3d india map with flag colors next to white crocodile skull +[2026-05-27 13:36:29,018] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:37:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:47:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 6788 episode 0 object objadecorativemap_5f5fa02e9e02420881536168a660c47b_1_0_8 completed with success=False +[05/27 13:47:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6788: 1 episodes +[05/27 13:47:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:47:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:47:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6788 +[05/27 13:47:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6788 in 2.72s (batch: 2.62s, save: 0.09s) +[05/27 13:47:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6788 +[05/27 13:47:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6788: 0/1 successful episodes +[05/27 13:47:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6911 (index 76/115) +[05/27 13:47:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 13:47:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 13:48:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene +[05/27 13:48:10 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +Goal: place blue hammer with orange handle next to medium-sized light brown oval potato +[2026-05-27 13:49:13,513] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:49:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:00:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 6911 episode 0 object objahandtool_ed6973497d074fd6969fd06f52e8da04_1_0_8 completed with success=False +[05/27 14:00:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6911: 1 episodes +[05/27 14:00:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:00:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:00:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6911 +[05/27 14:00:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6911 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 14:00:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6911 +[05/27 14:00:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6911: 0/1 successful episodes +[05/27 14:00:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6981 (index 77/115) +[05/27 14:00:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:00:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place shackle next to glossy red ceramic mug with handle +[2026-05-27 14:02:17,954] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:02:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:13:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 6981 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_2 completed with success=False +[05/27 14:13:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6981: 1 episodes +[05/27 14:13:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:13:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:13:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6981 +[05/27 14:13:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6981 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 14:13:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6981 +[05/27 14:13:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6981: 0/1 successful episodes +[05/27 14:13:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7030 (index 78/115) +[05/27 14:13:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:13:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place vintage cast iron clothes iron next to clear glass martini cup +[2026-05-27 14:14:50,429] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:15:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:20:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 7030 episode 0 object objaclothesiron_85d03c142cf04e258f254e7112850ba7_1_0_2 completed with success=False +[05/27 14:20:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7030: 1 episodes +[05/27 14:20:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:20:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:20:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7030 +[05/27 14:20:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7030 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 14:20:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7030 +[05/27 14:20:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7030: 0/1 successful episodes +[05/27 14:20:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7097 (index 79/115) +[05/27 14:20:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:20:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place chocolate wrapper next to golden bread +[2026-05-27 14:22:18,557] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:22:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:37:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 7097 episode 0 object objapackagedfood_5ceecc4773b845a5b9addfa0f324f159_1_0_2 completed with success=False +[05/27 14:38:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7097: 1 episodes +[05/27 14:38:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:38:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:38:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7097 +[05/27 14:38:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7097 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 14:38:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7097 +[05/27 14:38:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7097: 0/1 successful episodes +[05/27 14:38:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7177 (index 80/115) +[05/27 14:38:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:38:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 14:38:38 Worker 0 WARNING object_manager.py:1238] Could not find object objamolding_fafc3a00286842408c0e020b99c92b3d_1_0_6 in scene +Goal: place white lint roller with black handle next to blue soap bottle with orange pump +[2026-05-27 14:39:42,660] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 7177 episode 0 object objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_2 completed with success=False +[05/27 14:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7177: 1 episodes +[05/27 14:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:54:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:54:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7177 +[05/27 14:54:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7177 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 14:54:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7177 +[05/27 14:54:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7177: 0/1 successful episodes +[05/27 14:54:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7301 (index 81/115) +[05/27 14:54:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7301 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 14:54:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place polished wooden goblet next to vintage teal blue toy van +[2026-05-27 14:55:31,979] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:56:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:03:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7301 episode 0 object objagoblet_35c17f99abdd4ff995fe8b392865a37c_1_0_2 completed with success=False +[05/27 15:03:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7301: 1 episodes +[05/27 15:03:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:03:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:03:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7301 +[05/27 15:03:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7301 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 15:03:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7301 +[05/27 15:03:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7301: 0/1 successful episodes +[05/27 15:03:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7348 (index 82/115) +[05/27 15:03:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:03:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place solid food next to soapdispenser +[2026-05-27 15:04:55,484] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:05:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:18:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 7348 episode 0 object objameat_42c4cf5f1af84cfa9800dff288f13a44_1_0_8 completed with success=False +[05/27 15:18:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7348: 1 episodes +[05/27 15:18:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:18:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:18:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7348 +[05/27 15:18:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7348 in 2.68s (batch: 2.59s, save: 0.09s) +[05/27 15:18:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7348 +[05/27 15:18:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7348: 0/1 successful episodes +[05/27 15:18:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7405 (index 83/115) +[05/27 15:18:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7405 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:18:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place folded soft taco with lettuce filling next to fresh oval-shaped green lettuce head +[2026-05-27 15:19:42,002] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:20:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:27:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 7405 episode 0 object objataco_5b8095131eca4914b6dce4e96b290a3f_1_0_2 completed with success=False +[05/27 15:27:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7405: 1 episodes +[05/27 15:27:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:27:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:27:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7405 +[05/27 15:27:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7405 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 15:27:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7405 +[05/27 15:27:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7405: 0/1 successful episodes +[05/27 15:27:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7472 (index 84/115) +[05/27 15:27:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:27:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place glossy smooth oval beige egg next to solanaceous vegetable +[2026-05-27 15:28:40,647] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:29:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:36:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 7472 episode 0 object egg_15cf0be37a6e2484728ad7e6fc53f181_1_0_2 completed with success=False +[05/27 15:36:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7472: 1 episodes +[05/27 15:36:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:36:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:36:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7472 +[05/27 15:36:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7472 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 15:36:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7472 +[05/27 15:36:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7472: 0/1 successful episodes +[05/27 15:36:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7569 (index 85/115) +[05/27 15:36:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7569 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:36:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 15:36:29 Worker 0 WARNING object_manager.py:1238] Could not find object objasleepmask_e010cefb12434adaa70c64b0f9bae79a_1_0_3 in scene +[05/27 15:36:29 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene +Goal: place brown plastic rake with five tines next to bronze full-figured statue +[2026-05-27 15:37:32,440] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:50:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7569 episode 0 object objarake_d2c6209177484c299f7d806f5544dec6_2_0_2 completed with success=False +[05/27 15:51:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7569: 1 episodes +[05/27 15:51:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:51:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:51:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7569 +[05/27 15:51:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7569 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 15:51:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7569 +[05/27 15:51:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7569: 0/1 successful episodes +[05/27 15:51:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7672 (index 86/115) +[05/27 15:51:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:51:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place smooth brown chicken egg next to transparent soap bottle with bronze pump +[2026-05-27 15:52:11,321] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:52:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:54:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 7672 episode 0 object egg_8105fb5ffac56e85221c0eea53ac4fb5_1_0_2 completed with success=False +[05/27 15:54:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7672: 1 episodes +[05/27 15:54:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:54:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:54:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7672 +[05/27 15:54:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7672 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 15:54:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7672 +[05/27 15:54:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7672: 0/1 successful episodes +[05/27 15:54:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7774 (index 87/115) +[05/27 15:54:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 15:54:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place light gray stone chess knight next to rectangular card with squid +[2026-05-27 15:55:53,822] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:56:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:12:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 7774 episode 0 object objachesspiece_11048451bddc416eb4872caad8f0ba35_1_0_3 completed with success=False +[05/27 16:12:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7774: 1 episodes +[05/27 16:12:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:12:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:12:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7774 +[05/27 16:12:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7774 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 16:12:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7774 +[05/27 16:12:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7774: 0/1 successful episodes +[05/27 16:12:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7857 (index 88/115) +[05/27 16:12:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:12:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place black rectangular device with pin screen next to blue egg with yellow moon spots +[2026-05-27 16:13:19,509] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:14:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 7857 episode 0 object objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_2 completed with success=True +[05/27 16:14:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7857: 1 episodes +[05/27 16:14:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 58 timesteps +[05/27 16:14:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:14:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7857 +[05/27 16:14:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7857 in 2.44s (batch: 2.41s, save: 0.03s) +[05/27 16:14:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7857 +[05/27 16:14:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7857: 1/1 successful episodes +[05/27 16:14:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7973 (index 89/115) +[05/27 16:14:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7973 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:14:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place pliers next to red tractor +[2026-05-27 16:16:10,683] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:16:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:26:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 7973 episode 0 object objapincers_76dfab9b43c346c781e1c0edd3afe534_1_0_7 completed with success=False +[05/27 16:26:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7973: 1 episodes +[05/27 16:26:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:26:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:26:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7973 +[05/27 16:26:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7973 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 16:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7973 +[05/27 16:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7973: 0/1 successful episodes +[05/27 16:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8064 (index 90/115) +[05/27 16:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8064 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place effects unit next to open cardboard box flaps +[2026-05-27 16:27:29,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:38:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 8064 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 completed with success=False +[05/27 16:38:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8064: 1 episodes +[05/27 16:38:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:38:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:38:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8064 +[05/27 16:38:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8064 in 2.69s (batch: 2.61s, save: 0.09s) +[05/27 16:38:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8064 +[05/27 16:38:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8064: 0/1 successful episodes +[05/27 16:38:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8136 (index 91/115) +[05/27 16:38:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8136 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:38:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaterrainpatch_b649d14ef25b4d509f880fa217d13e3b_1_0_4 in scene +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4 in scene +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_9454424987bf45eb9bf7290823ca0cf1_1_0_5 in scene +[05/27 16:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object candle_09223ab74c3b4b8525bb3f1f1bd405c2_2_0_5 in scene +Goal: place decorative knife with green handle next to red round tomato +[2026-05-27 16:40:08,104] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:40:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:57:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 8136 episode 0 object objadecorativeknife_ba81008c318c4af494b46d6b75770d79_1_0_2 completed with success=False +[05/27 16:57:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8136: 1 episodes +[05/27 16:57:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:57:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:57:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8136 +[05/27 16:57:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8136 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 16:57:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8136 +[05/27 16:57:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8136: 0/1 successful episodes +[05/27 16:57:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8231 (index 92/115) +[05/27 16:57:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 16:57:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place blue bomb with skull next to thick blue hardcover book with pages +[2026-05-27 16:59:12,440] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:59:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:09:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8231 episode 0 object objatoybomb_1631526a79b44d3a96382b1802a59fb7_1_0_7 completed with success=False +[05/27 17:09:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8231: 1 episodes +[05/27 17:09:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:09:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:09:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8231 +[05/27 17:09:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8231 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 17:09:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8231 +[05/27 17:09:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8231: 0/1 successful episodes +[05/27 17:09:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8303 (index 93/115) +[05/27 17:09:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:09:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place gray submarine next to edible fruit +[2026-05-27 17:10:21,510] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:10:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8303 episode 0 object objatoysubmarine_caf68e270c8f4da4817eaeaa231248e8_1_0_2 completed with success=False +[05/27 17:25:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8303: 1 episodes +[05/27 17:25:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8303 +[05/27 17:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8303 in 2.49s (batch: 2.40s, save: 0.09s) +[05/27 17:25:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8303 +[05/27 17:25:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8303: 0/1 successful episodes +[05/27 17:25:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8388 (index 94/115) +[05/27 17:25:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:25:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place twisted wooden club with handle next to slim dark cellphone with volume buttons +[2026-05-27 17:26:26,086] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:35:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 8388 episode 0 object objadecorativeclub_3f58af56c3dd48b6982f03e0d2098bd5_1_0_2 completed with success=False +[05/27 17:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8388: 1 episodes +[05/27 17:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:36:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8388 +[05/27 17:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8388 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 17:36:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8388 +[05/27 17:36:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8388: 0/1 successful episodes +[05/27 17:36:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8447 (index 95/115) +[05/27 17:36:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8447 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:36:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 17:36:19 Worker 0 WARNING object_manager.py:1238] Could not find object objacalendar_66167a28782a4472a531436b59ebbe40_1_0_2 in scene +[05/27 17:36:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +Goal: place wooden goblet next to old accordion camera +[2026-05-27 17:37:23,045] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:57:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 8447 episode 0 object objagoblet_69ccd4f7ef0d40db876d4f15fc5f7b32_1_0_7 completed with success=False +[05/27 17:57:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8447: 1 episodes +[05/27 17:57:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:57:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:57:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8447 +[05/27 17:57:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8447 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 17:57:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8447 +[05/27 17:57:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8447: 0/1 successful episodes +[05/27 17:57:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8537 (index 96/115) +[05/27 17:57:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 17:57:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 +[05/27 17:57:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 17:57:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 17:57:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 17:57:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 17:57:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 17:57:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue laptop and place it next to the beige mechanical component with red accents' +[05/27 17:57:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 8537 episode 0/1 collected=0/2 +[05/27 17:57:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +Goal: place blue laptop next to beige mechanical component with red accents +[2026-05-27 17:58:20,908] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:58:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:03:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 8537 episode 0 object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_2 completed with success=False +[05/27 18:03:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8537: 1 episodes +[05/27 18:03:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:03:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:03:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8537 +[05/27 18:03:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8537 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 18:03:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8537 +[05/27 18:03:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8537: 0/1 successful episodes +[05/27 18:03:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8643 (index 97/115) +[05/27 18:03:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8643 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:03:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place world cube next to small green house plant in pot +[2026-05-27 18:05:12,133] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:05:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:18:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 8643 episode 0 object objapuzzle_8c4b97dfc3014b69848bd040a3c866e5_1_0_4 completed with success=False +[05/27 18:18:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8643: 1 episodes +[05/27 18:18:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:18:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:18:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8643 +[05/27 18:18:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8643 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 18:18:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8643 +[05/27 18:18:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8643: 0/1 successful episodes +[05/27 18:18:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8720 (index 98/115) +[05/27 18:18:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8720 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:18:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place small gray smooth cup next to black and white book +[2026-05-27 18:20:00,119] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:20:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 8720 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=False +[05/27 18:28:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8720: 1 episodes +[05/27 18:28:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:28:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8720 +[05/27 18:28:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8720 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 18:28:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8720 +[05/27 18:28:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8720: 0/1 successful episodes +[05/27 18:28:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8805 (index 99/115) +[05/27 18:28:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8805 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:28:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 18:29:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place white electrical connector next to shiny purple quilted pillow +[2026-05-27 18:30:18,831] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:42:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 8805 episode 0 object objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_9 completed with success=False +[05/27 18:42:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8805: 1 episodes +[05/27 18:42:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:42:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:42:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8805 +[05/27 18:42:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8805 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 18:42:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8805 +[05/27 18:42:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8805: 0/1 successful episodes +[05/27 18:42:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8881 (index 100/115) +[05/27 18:42:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:42:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place bulbous shiny gold metallic vase next to small oval brown potato +[2026-05-27 18:43:20,323] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:43:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:45:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 8881 episode 0 object vase_d568e4c5c2948c69c05d527517276b06_1_0_6 completed with success=False +[05/27 18:46:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8881: 1 episodes +[05/27 18:46:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:46:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:46:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8881 +[05/27 18:46:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8881 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 18:46:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8881 +[05/27 18:46:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8881: 0/1 successful episodes +[05/27 18:46:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8952 (index 101/115) +[05/27 18:46:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8952 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 18:46:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 18:46:20 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_9 in scene +Goal: place red compact handheld device with label next to smooth light ceramic bowl +[2026-05-27 18:47:22,923] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:48:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:01:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 8952 episode 0 object objatool_9796cef620844a89ad045826ed1ae1d1_1_0_8 completed with success=False +[05/27 19:01:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8952: 1 episodes +[05/27 19:01:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:01:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:01:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8952 +[05/27 19:01:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8952 in 2.94s (batch: 2.84s, save: 0.10s) +[05/27 19:01:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8952 +[05/27 19:01:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8952: 0/1 successful episodes +[05/27 19:01:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9022 (index 102/115) +[05/27 19:01:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9022 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:01:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place smooth yellow apple with stem next to fresh green lettuce +[2026-05-27 19:02:54,014] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:03:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:13:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 9022 episode 0 object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_6 completed with success=False +[05/27 19:13:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9022: 1 episodes +[05/27 19:13:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:13:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:13:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9022 +[05/27 19:13:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9022 in 2.79s (batch: 2.70s, save: 0.10s) +[05/27 19:13:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9022 +[05/27 19:13:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9022: 0/1 successful episodes +[05/27 19:13:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9087 (index 103/115) +[05/27 19:13:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:13:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place miniature trafficlight with red light next to slim rectangular red phone device +[2026-05-27 19:14:40,200] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:15:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:20:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 9087 episode 0 object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_2 completed with success=False +[05/27 19:20:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9087: 1 episodes +[05/27 19:20:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:20:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:20:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9087 +[05/27 19:20:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9087 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 19:21:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9087 +[05/27 19:21:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9087: 0/1 successful episodes +[05/27 19:21:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9152 (index 104/115) +[05/27 19:21:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9152 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:21:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 19:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaarchaeologicalmodel_d8275f5a478c4157a9ecbb8562034789_1_0_2 in scene +[05/27 19:21:29 Worker 0 WARNING object_manager.py:1238] Could not find object apple_0a9ba98f2af520d91d8acc78da62b984_1_0_2 in scene +Goal: place metallic needle-nose pliers with grips next to smooth gray bowl +[2026-05-27 19:22:36,288] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:23:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:37:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 9152 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_4 completed with success=False +[05/27 19:37:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 19:37:24 Worker 0 WARNING object_manager.py:1238] Could not find object objaarchaeologicalmodel_d8275f5a478c4157a9ecbb8562034789_1_0_2 in scene +[05/27 19:37:24 Worker 0 WARNING object_manager.py:1238] Could not find object apple_0a9ba98f2af520d91d8acc78da62b984_1_0_2 in scene +Goal: place red futuristic handheld device with grip next to black stylized handgun with blue accents +[2026-05-27 19:38:29,038] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:39:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:53:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 9152 episode 1 object objatoygun_8a193bd9d7944b5baf2031f5fb80a7a3_1_0_7 completed with success=False +[05/27 19:53:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9152: 2 episodes +[05/27 19:53:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:53:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:53:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:53:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:53:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9152 +[05/27 19:53:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9152 in 4.93s (batch: 4.75s, save: 0.17s) +[05/27 19:53:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9152 +[05/27 19:53:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9152: 0/2 successful episodes +[05/27 19:53:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9156 (index 105/115) +[05/27 19:53:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9156 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 19:53:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place locking pliers next to soapdispenser +[2026-05-27 19:54:36,668] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:55:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:11:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 9156 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False +[05/27 20:11:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9156: 1 episodes +[05/27 20:11:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:11:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:11:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9156 +[05/27 20:11:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9156 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 20:11:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9156 +[05/27 20:11:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9156: 0/1 successful episodes +[05/27 20:11:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9234 (index 106/115) +[05/27 20:11:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:11:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place colorful flower next to oval brown potato +[2026-05-27 20:12:27,825] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:13:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:18:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 9234 episode 0 object objaflowersculpture_4d3f1c2044814320af551030c3bf0e9d_1_0_6 completed with success=False +[05/27 20:18:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9234: 1 episodes +[05/27 20:18:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:18:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:18:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9234 +[05/27 20:18:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9234 in 2.43s (batch: 2.33s, save: 0.09s) +[05/27 20:18:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9234 +[05/27 20:18:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9234: 0/1 successful episodes +[05/27 20:18:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9308 (index 107/115) +[05/27 20:18:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9308 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:18:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place wooden humanoid puzzle piece next to shiny gold vase +[2026-05-27 20:19:22,941] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:19:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:29:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9308 episode 0 object objapuzzlepiece_2dbbd65cb2614e8481d2b1f0760c37a8_1_0_7 completed with success=False +[05/27 20:29:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9308: 1 episodes +[05/27 20:29:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:29:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:29:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9308 +[05/27 20:29:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9308 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 20:29:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9308 +[05/27 20:29:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9308: 0/1 successful episodes +[05/27 20:29:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9422 (index 108/115) +[05/27 20:29:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9422 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:29:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyspacecraft_f42792c81950490faaabc21ae1f2019a_1_0_2 in scene +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_27f41066f714b93c23f7a8f42a932407_1_0_2 in scene +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_8c4ab0ebeae63b9cd60e6686b8602751_1_0_2 in scene +[05/27 20:29:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebadge_8a1845ddd6fa4a2e8102c30675ff11e5_1_0_6 in scene +Goal: place teal cat next to rustic round beige ceramic plate +[2026-05-27 20:30:43,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:42:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9422 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_2 completed with success=False +[05/27 20:42:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9422: 1 episodes +[05/27 20:42:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:42:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:42:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9422 +[05/27 20:42:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9422 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 20:42:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9422 +[05/27 20:42:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9422: 0/1 successful episodes +[05/27 20:42:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9496 (index 109/115) +[05/27 20:42:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9496 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:42:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place movie camera next to green floral wedding invitation +[2026-05-27 20:44:45,007] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:59:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 9496 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_8 completed with success=False +[05/27 20:59:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9496: 1 episodes +[05/27 20:59:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:59:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:59:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9496 +[05/27 20:59:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9496 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 20:59:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9496 +[05/27 20:59:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9496: 0/1 successful episodes +[05/27 20:59:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9554 (index 110/115) +[05/27 20:59:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9554 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 20:59:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 21:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objawallplaque_4ac6037405274ec4893b7979a707d625_1_0_6 in scene +[05/27 21:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_de5352f233c6a9b4bf912bb08ebc2810_1_0_6 in scene +Goal: place black spray paint can next to olive scalloped ceramic plate +[05/27 21:00:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:14:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 9554 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_9 completed with success=False +[05/27 21:14:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9554: 1 episodes +[05/27 21:14:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:14:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:14:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9554 +[05/27 21:14:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9554 in 2.59s (batch: 2.50s, save: 0.09s) +[05/27 21:14:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9554 +[05/27 21:14:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9554: 0/1 successful episodes +[05/27 21:14:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9642 (index 111/115) +[05/27 21:14:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9642 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:14:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 21:15:00 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_3 in scene +Goal: place white aerosol can with rusted top next to white tape dispenser +[2026-05-27 21:16:03,623] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 9642 episode 0 object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_3 completed with success=False +[05/27 21:25:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9642: 1 episodes +[05/27 21:25:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9642 +[05/27 21:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9642 in 2.65s (batch: 2.56s, save: 0.09s) +[05/27 21:25:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9642 +[05/27 21:25:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9642: 0/1 successful episodes +[05/27 21:25:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9719 (index 112/115) +[05/27 21:25:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9719 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:25:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 21:25:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place dark vintage rectangular chocolate mold next to sleek black toaster with red sides +[2026-05-27 21:26:24,159] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:26:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:40:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 9719 episode 0 object objachocolatemold_f410c9f5784d435ea17c89e2f51bc439_1_0_8 completed with success=False +[05/27 21:40:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9719: 1 episodes +[05/27 21:40:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:40:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:40:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9719 +[05/27 21:40:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9719 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 21:40:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9719 +[05/27 21:40:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9719: 0/1 successful episodes +[05/27 21:40:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9886 (index 113/115) +[05/27 21:40:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:40:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 21:40:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_7 in scene +[05/27 21:40:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_7 in scene +[05/27 21:40:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place turquoise can next to brown loaf bread +[2026-05-27 21:41:51,821] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:54:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 9886 episode 0 object objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_8 completed with success=False +[05/27 21:54:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9886: 1 episodes +[05/27 21:54:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:54:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9886 +[05/27 21:54:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9886 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 21:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9886 +[05/27 21:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9886: 0/1 successful episodes +[05/27 21:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9958 (index 114/115) +[05/27 21:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9958 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 +[05/27 21:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place curved ceramic tube next to yellow apple with stem +[2026-05-27 21:55:52,425] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:56:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:09:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 9958 episode 0 object objapipe_bf11f43f2d674918b4618bfbacaef123_1_0_8 completed with success=False +[05/27 22:10:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9958: 1 episodes +[05/27 22:10:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:10:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:10:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9958 +[05/27 22:10:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9958 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 22:10:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9958 +[05/27 22:10:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9958: 0/1 successful episodes +[05/27 22:10:03 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 22:10:04 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 22:10:04 INFO pipeline.py:1499] Success count: 2, Total count: 119 +[05/27 22:10:04 INFO pipeline.py:1500] Success rate: 1.68% +Combined 119 episodes from 115 files → /tmp/tmp4ihor1tz.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv at-end: 1.68% | oracle: 1.68% of 119 episodes +[2026-05-27 22:10:18,242] INFO MolmoSpaces simulator eval finished: success=2/119 rate=0.0168 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval +[2026-05-27 22:10:18,242] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d1d2369422c38e04c9f841281010e7c759013404 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..947f1067db0c3443113607b1c79863a26e166e9a --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/results.csv @@ -0,0 +1,111 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Candle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.296682,0.0 +latest,Cup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.168502,0.0 +latest,Egg,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,43.467935,29.99183 +latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.959686,0.0 +latest,Laptop,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.488235,11.316677 +latest,Objaabstractfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.02349,0.0 +latest,Objaacorn,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.955052,0.0 +latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,108.012299,0.0 +latest,Objaairblower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.286147,0.0 +latest,Objabarcodescanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.323514,0.0 +latest,Objacamcorder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.767915,0.0 +latest,Objacandlestick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.153645,0.0 +latest,Objaceramiccat,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,24.5965,10.491697 +latest,Objaceramiclid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.359321,0.0 +latest,Objaceramicmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.411923,0.0 +latest,Objachesspiece,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,26.579897,15.965 +latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,115.234557,0.0 +latest,Objachocolatemold,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.652779,0.0 +latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,156.585646,0.0 +latest,Objaclothesiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.731223,0.0 +latest,Objacorkscrew,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,33.205069,9.66802 +latest,Objacrucifix,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.977582,0.0 +latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.80905,0.0 +latest,Objadecorativeclub,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.730731,0.0 +latest,Objadecorativecrown,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.296213,0.0 +latest,Objadecorativedevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.211717,0.0 +latest,Objadecorativegoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.302967,0.0 +latest,Objadecorativehourglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.068171,0.0 +latest,Objadecorativeknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.645277,0.0 +latest,Objadecorativemap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.943096,0.0 +latest,Objadecorativetorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.545226,0.0 +latest,Objadecorativewedge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.732014,0.0 +latest,Objadecorativewoodpiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.363168,0.0 +latest,Objaelectricalconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.137027,0.0 +latest,Objafantasybook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.471756,0.0 +latest,Objafibercleaver,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.016547,0.0 +latest,Objafinial,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.235103,0.0 +latest,Objafiredepartmentconnection,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.570309,0.0 +latest,Objaflowersculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.869468,0.0 +latest,Objafoodcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.084014,0.0 +latest,Objafoodcontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.955493,0.0 +latest,Objafrenchpress,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.63433,0.0 +latest,Objagoblet,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.410711,11.653811 +latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.876975,0.0 +latest,Objahandhelddevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.06634,0.0 +latest,Objahandheldmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.808936,0.0 +latest,Objahandheldtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.5985,0.0 +latest,Objahandheldvacuumcleaner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.8413,0.0 +latest,Objahandplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.49278,0.0 +latest,Objahandplaner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.669211,0.0 +latest,Objahandtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.339492,0.0 +latest,Objaholographicprojector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.853957,0.0 +latest,Objahumanhandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.192563,0.0 +latest,Objaimmersionblender,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.991573,0.0 +latest,Objainsulationpanel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.299256,0.0 +latest,Objakeypad,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,30.466013,6.384054 +latest,Objakokeshidoll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.211825,0.0 +latest,Objalever,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.334466,0.0 +latest,Objalintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.039311,0.0 +latest,Objalockingpliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.134394,0.0 +latest,Objalogoplaque,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.810865,0.0 +latest,Objameat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.341002,0.0 +latest,Objamechanicalclock,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,45.045672,9.426622 +latest,Objaminiaturetrafficlight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.875454,0.0 +latest,Objamodelbuilding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.438283,0.0 +latest,Objamoth,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,34.916151,0.317342 +latest,Objamoviecamera,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,42.741138,13.799269 +latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.502969,0.0 +latest,Objanotebook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.652684,0.0 +latest,Objaocarina,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.730636,0.0 +latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.885607,0.0 +latest,Objapencil,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.42873,0.0 +latest,Objaphotoblock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.308908,0.0 +latest,Objapincers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.013036,0.0 +latest,Objapipe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.449259,0.0 +latest,Objapipecutter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.959573,0.0 +latest,Objaplaque,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.457348,0.0 +latest,Objapuzzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.263136,0.0 +latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.152635,0.0 +latest,Objapuzzletoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.458006,0.0 +latest,Objarake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.697752,0.0 +latest,Objareplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.011271,0.0 +latest,Objasandal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.502584,0.0 +latest,Objascopemount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.486377,0.0 +latest,Objascrewdriver,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,82.015511,0.0 +latest,Objashackle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,68.686098,3.608731 +latest,Objasilencer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.052429,0.0 +latest,Objasnackpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.257326,0.0 +latest,Objaspatula,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.83156,0.0 +latest,Objaspinningtop,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.836606,0.0 +latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.269625,0.0 +latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.855863,0.0 +latest,Objataco,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.081145,0.0 +latest,Objatacticalmask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.190027,0.0 +latest,Objateacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.268757,0.0 +latest,Objatoiletpaperroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.266822,0.0 +latest,Objatool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.752693,0.0 +latest,Objatoybomb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.8491,0.0 +latest,Objatoygun,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.656993,0.0 +latest,Objatoysubmarine,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.635338,0.0 +latest,Objawalkietalkie,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.141232,2.674376 +latest,Objawallhook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.896521,0.0 +latest,Objawasher,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.740271,0.0 +latest,Pot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.782793,0.0 +latest,Vase,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,29.073629,5.036522 +latest,OVERALL,2,119,1.68,0.52,5.89,2,1.68,0.52,5.89,39.90792,23.632107 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..8365f3d7378281360b29e524d9b475d7b422b4f4 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/shard_07_results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/shard_07_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..947f1067db0c3443113607b1c79863a26e166e9a --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/submission/shard_07_results.csv @@ -0,0 +1,111 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 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